SUMMARYThe robotic intervention has great potential in the rehabilitation of post-stroke patients to regain their lost mobility. In this paper, firstly, we present a design of a novel, 7 degree-of-freedom (DOF) upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons. An ergonomic shoulder mechanism with two passive DOF was included in the proposed exoskeleton to provide scapulohumeral motion with corresponding full ROM. Also, the joints of u-Rob have more range of motions compared to its existing counterparts. Secondly, we propose a fractional sliding mode control (FSMC) to control u-Rob. Applying the Lyapunov theory to the proposed control algorithm, we showed the stability of it. To control u-Rob, FSMC has shown effectiveness to handle unmodeled dynamics (e.g. friction, disturbance, etc.) in terms of better tracking and chatter compared to traditional SMC.

中文翻译：

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一种用于上肢康复的具有分数滑动模式控制的新型外骨骼

摘要机器人干预在中风后患者康复以恢复失去的活动能力方面具有巨大潜力。在本文中，首先，我们提出了一种新颖的 7 自由度 (DOF) 上肢机器人外骨骼 (u-Rob) 的设计，与其他现有技术相比，该外骨骼具有肩肩肱节律和广泛的运动 (ROM)外骨骼。具有两个被动自由度的符合人体工程学的肩部机构包含在所提议的外骨骼中，以提供具有相应完整 ROM 的肩胛肱运动。此外，与现有同类产品相比，u-Rob 的关节具有更大的运动范围。其次，我们提出了一种分数滑模控制（FSMC）来控制 u-Rob。将李雅普诺夫理论应用于所提出的控制算法，我们证明了它的稳定性。要控制 u-Rob，