Houda Barbouch, Abderraouf Khemiri, Nahla Khraief, Safya Belghith



Nonlinear Disturbance Observer Based Control of a 7DoF Exoskeleton Robot for Arm Movements

pdf PDF


This paper focuses on the application of a disturbance observer control of an exoskeleton upperextremity. In order to achieve this target, arm two steps were executed; first of all, a prototype of the exoskeleton robot has been designed using Solidworks software, after its dynamic model has been accomplished. Then, the development of non linear controller (Computed Torque Control) was performed. Finally, to the application of a disturbance observer in the control, we have used the Lyapunov method to estimate the external disturbance about the device.


Exoskeleton robot, rehabilitation, physical disability, Computed Torque Control, Nonlinear Disturbance Observer, External disturbance, Lyapunov method.


[1] C. Carignan, M. Naylor, S. Roderick, Controlling shoulder impedancein a rehabilitation arm exoskeleton, in: Robotics and Automation, 2008.ICRA 2008. IEEE International Conference on, YEAR = 2008, pages: 2453 - 2458, address : Pasadena, CA, month = May, publisher :IEEE,.

[2] N. Jarrasse, J. Robertson, P. Garrec, J. Paik, Design and acceptability assessment of a new reversible orthosis, in: Intelligent Robots and Sys- tems, 2008. IROS 2008. IEEE/RSJ International Conference on, IEEE, Nice, 2008, pp. 1933 1939.

[3] J. Rosen, J. Perry, N. Manning, S. Burns, The human arm kinematics and dynamics during daily activities - toward a 7 dof upper limb powered exoskeleton, in: Advanced Robotics, 2005. ICAR 05. Proceedings., 12th International Conference on, IEEE, Seattle, WA, 2005, pp. 532 539.

[4] J. Perry, J.C.and Rosen, S. Burns, Exoskeletons for gait assistance and training of the motorimpaired., IEEE, 2007.

[5] Laffranchi, Design of a 7 degree-of-freedom upper-limb powered ex- oskeleton, pp. 805810.

[6] K. Ouimet, Commande dun bras exosquelette sept degr de libert.

[7] M. Rahman, Developpement of an exoskeleton robot for upper-limb rehabilitation, IEEE, Montreal, ON, 2012.

[8] Craig., Introduction to robotics: mechanics and control, 3rd, 2005, p. 400.

[9] M. Rahman, M. Saad, J. Kenne, P. Archambault, Modeling and devel- opment of an exoskeleton robot for rehabilitation of wrist movements, in: Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME Inter- national Conference on, IEEE, Montreal, ON, 2010, pp. 25 30.

[10] H. Amin, Nikoobin andReza, Lyapunov-based nonlinear disturbance ob- server for serial n-link robot manipulators, Springer Science + Business Media B.V., Iran, 2008.

[11] K. Reif, F. Sonnemann, R. Unbehauen, An ekfbased nonlinear observer with a prescribed degree of stability, pp. vol. 34, no 9, app 11191123, (1198).

Cite this paper

Houda Barbouch, Abderraouf Khemiri, Nahla Khraief, Safya Belghith. (2017) Nonlinear Disturbance Observer Based Control of a 7DoF Exoskeleton Robot for Arm Movements. International Journal of Control Systems and Robotics, 2, 242-249


Copyright © 2017 Author(s) retain the copyright of this article.
This article is published under the terms of the Creative Commons Attribution License 4.0