LAUSR

Abstract This paper concerns adaptive sliding-mode control for wearable robots with a human in the loop. The exoskeletons are wearable robots in interaction with different users. The proposed approach supposes that the dynamic model of the exoskeleton-human system is unknown except for some classical bounded properties. The controller guarantees the closed-loop convergence with an embedded-in estimation of unknown dynamics and uncertainties. The stability analysis of the system is demonstrated using the Lyapunov theory. Experimentation on an upper arm exoskeleton was conducted in order to exhibit the effectiveness of the proposed control method. The results show good tracking of the desired trajectories, which can be used in the assistive phase of the functional rehabilitation.