Parameter estimation techniques for a rehabilitation hand exoskeleton

In this paper we study several techniques regarding the parameter estimation for a rehabilitation hand exoskeleton. Several solutions for the control system are proposed and discussed. The technical constraints determine the difficulty of the sensor placement on the exoskeleton area. In order to avoid these problems, a disturbance torque observer is used. Two control solutions are proposed. First, we discuss a conventional control with velocity and force observers. Then, the torque observer is used to compensate the compliance effects of the human hand and to control the actuation torque. Several simulation examples prove the proposed methods.