Adaptive Model-Free Controller with Supervised Switching Technology of Upper Limb Exoskeleton

A spherical scissor mechanism and an adaptive model-free controller with supervised switching method (SST-AMFC) were developed based on the previously proposed 7-DOF upper extremity exoskeleton iReHave to assist patients with impaired upper extremity motor function in completing the training required for rehabilitation. As a result, the iReHave II exoskeleton shoulder, which is based on SolidWorks, is proposed to increase the upper limb exoskeleton's performance. SST-AMFC (TDE-iPID) integrates TDE hyperlocal IPID model, time delay estimation technique, and PID controller performance on the original premise, using a line adaptive estimate methodology and intelligent PID control based on time delay estimation. Finally, the co-simulation results are combined with a comparison of the TDE-iPID controller to show how well the proposed SST-AMFC performs on the iReHave II 7-DOF upper limb exoskeleton robot.