{'fraction_non_alphanumeric': 0.019736842105263157, 'fraction_numerical': 0.001644736842105263, 'mean_word_length': 5.4787234042553195, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
PID control for the robotic exoskeleton arm: Application to rehabilitation

The paper investigates the PID control of exoskeleton robot arm used for robot-assisted rehabilitation. The developed exoskeleton arm consists of 5 joints, which process merits of back drivability, precise positioning capabilities, and zero backlash due to its embedded Harmonic drive transmission (HDT) and Elmo driver. For the trajectory tracking, a control based on PID and implemented in Elmo servo driver has been developed. The experiments are conducted to verify the effectiveness of the proposed system and control approach.