TY - JOUR EP - 632 PB - SAGE Publications Ltd SN - 09596518 TI - Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton SP - 606 N1 - cited By 10 AV - none VL - 235 JF - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering A1 - Aole, S. A1 - Elamvazuthi, I. A1 - Waghmare, L. A1 - Patre, B. A1 - Meriaudeau, F. UR - https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091248511&doi=10.1177%2f0959651820954575&partnerID=40&md5=072bb55f2e567e42f961d9896dc3a63e Y1 - 2021/// ID - scholars15008 KW - Disturbance rejection; Exoskeleton (Robotics); Joints (anatomy) KW - Active disturbance rejection controls; Extended state observer; Lagrange methods; Shoulder joints; Simulation studies; Sinusoidal trajectories; Trajectory tracking; Upper-limb rehabilitation KW - Neuromuscular rehabilitation N2 - Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patientâ??s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Eulerâ??Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. To examine the efficacy and robustness of the proposed method, four disturbances cases in simulation studies with 20 parameter variation were applied. It was found that the non-linear active disturbance rejection control is robust against disturbances and achieves better tracking as compared to proportionalâ??integralâ??derivative and existing conventional active disturbance rejection control method. © IMechE 2020. IS - 5 ER -