IMPLEMENTATION AND VALIDATION OF A PID-CONTROLLED MASTER-SLAVE EXOSKELETON ARM FOR PRECISION ELBOW REHABILITATION

Vollständiger Abstract

Worum geht es in dieser Arbeit?

Weakness in the arm after a stroke often makes everyday tasks hard to manage. Because robotic sleeves can guide repeated motions, they may help regain movement over time. A new approach is presented in which one limb takes charge and the second follows, tied together by a digital twin that adjusts motion with rapid response control. Instead of operating independently, the stronger side sets the movement while the weaker side copies it, with real-time corrections. Trials were conducted twice—first in simulation, then again on physical hardware to repeat the test. In the open-loop condition, the tracking error was substantial, reaching a maximum deviation of 76%. Once PID control was introduced, the error was reduced to thirteen digits calm Overshoot was also reduced, to approximately four or five percent. The system settled more quickly, with improved response. Building models in MATLAB Simulink demonstrated the feasibility of the system, with each component controlling the elbow joint smoothly. Tuning the controller parameters ensured that motion remained fluid across repeated trials. This kind of linked robotic arm, with a leader guiding a follower, might support long-term rehabilitation at home or in remote clinics. In future work, researchers plan to integrate more advanced control strategies and evaluate their real-world impact on people recovering from stroke.