PID control for the robotic exoskeleton arm: Application to rehabilitation

The paper investigates the PID control of exoskeleton robot arm used for robot-assisted rehabilitation. The developed exoskeleton arm consists of 5 joints, which process merits of back drivability, precise positioning capabilities, and zero backlash due to its embedded Harmonic drive transmission (HDT) and Elmo driver. For the trajectory tracking, a control based on PID and implemented in Elmo servo driver has been developed. The experiments are conducted to verify the effectiveness of the proposed system and control approach.