Integrated structure for collaboration robots: fast fractional integral terminal sliding mode with impedance control

Abstract This research offers a novel way to improve rehabilitation therapy for shoulder and upper-limb recovery, by combining impedance control and the Fast Fractional Integral Terminal Sliding Mode Control (FFITSMC) algorithm with a human arm model. The FFITSMC algorithm guarantees reliable and accurate trajectory tracking, and the suggested system makes use of the precise and adaptable nature of impedance control to communicate with patients safely and efficiently. The technology creates personalized trajectories based on a human arm model, meeting the demands of each patient and delivering focused and effective treatment sessions. The collaborative robotic exoskeleton created in this work addresses typical drawbacks of conventional rehabilitation equipment and provides a flexible and affordable physical therapy alternative. Integrating a human arm dynamic model enhances the system’s responses to human and environmental influences on the robot. Simulation results have also demonstrated the significant effectiveness of this control method in trajectory tracking and responding to unexpected disturbances, ensuring high safety levels.