%0 Journal Article
	%A Brahmi Brahim and  Mohammad Habibur Rahman and  Maarouf Saad and  Cristóbal Ochoa Luna
	%D 2016
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 116, 2016
	%T Iterative Estimator-Based Nonlinear Backstepping Control of a Robotic Exoskeleton
	%U https://publications.waset.org/pdf/10004974
	%V 116
	%X A repetitive training movement is an efficient method
to improve the ability and movement performance of stroke survivors
and help them to recover their lost motor function and acquire new
skills. The ETS-MARSE is seven degrees of freedom (DOF)
exoskeleton robot developed to be worn on the lateral side of the
right upper-extremity to assist and rehabilitate the patients with
upper-extremity dysfunction resulting from stroke. Practically,
rehabilitation activities are repetitive tasks, which make the
assistive/robotic systems to suffer from repetitive/periodic
uncertainties and external perturbations induced by the high-order
dynamic model (seven DOF) and interaction with human muscle
which impact on the tracking performance and even on the stability
of the exoskeleton. To ensure the robustness and the stability of the
robot, a new nonlinear backstepping control was implemented with
designed tests performed by healthy subjects. In order to limit and to
reject the periodic/repetitive disturbances, an iterative estimator was
integrated into the control of the system. The estimator does not need
the precise dynamic model of the exoskeleton. Experimental results
confirm the robustness and accuracy of the controller performance to
deal with the external perturbation, and the effectiveness of the
iterative estimator to reject the repetitive/periodic disturbances.
	%P 1375 - 1381