Experimental Study of Upper Limb Exoskeleton Control Based on IMUs Sensory System

This paper describes experimental study of controlling an upper limb exoskeleton to track the user’s arm. The main purpose of this paper is to discuss and evaluate the control strategies and sensory system with different users. Furthermore, this study has used IMU sensors which are put on the users arm to attain an outstanding interactive control to make the user’s arm imitation to the exoskeleton much comfortable, flexible and improved. To evaluate that, several experiments are performed. The results of these experiments indicate that the sensory system and control system are successful and have good performance to track user arm and control all the system.