Exoskeleton Hand Control by Fractional Order Model

The authors gratefully acknowledge funding from European Union’s Horizon 2020 Research and Innovation programme under the Marie Sklodowska Curie grant agreement No. 813278 (A- WEAR, http://www.a-wear.eu/).

This paper deals with the fractional order control for the complex systems,hand exoskeleton and sensors, that monitor and control the human behavior. The control laws based on physical significance variables, for fractional order models, with delays or without delays, are proposed and discussed. Lyapunov techniques and the methods that derive fromYakubovici-Kalman-Popovlemma are used and the frequency criterions that ensure asymptotic stability of the closed loop system are inferred. An observer control is proposed for the complex models, exoskeleton and sensors. The asymptotic stability of the system, exoskeleton hand-observer, is studied for sector control laws. Numerical simulations for an intelligent haptic robot-glove are presented. Several examples regarding these models, with delays or without delays, by using sector control laws or an observer control, are analyzed. The experimental platform is presented