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Robust Backstepping Control of Robotic Nurse Unit to Assist Paraplegic Patient

[+] Author Affiliations
Ali Selk Ghafari, Ali Meghdari

Sharif University of Technology

Paper No. IMECE2005-82236, pp. 641-646; 6 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


A robust motion controller based on backstepping technique for a robotic nurse unit to assist paraplegic patients is addressed in this paper. A backstepping controller is proposed for tracking a desired trajectory in hospital environment. Simulation results are provided to validate the proposed controller. The results show satisfactory performance of the designed controller in tracking problem.

Copyright © 2005 by ASME
Topics: Robotics



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