Elbow Exoskeleton Multi-Actuator Control

I’m building a lab-level concept for an elbow-support exoskeleton that relies on three coordinated actuators to boost both agility and power, rather than sacrificing one for the other. The work starts with a compact literature review: I need a clear “state of the art” snapshot for elbow-joint exo devices, with a spotlight on how current systems trade off speed, torque, and user comfort. From there we shift into simulation. I want to model the joint with a hybrid approach that blends Hill-type muscle dynamics with more recent compliant-actuator formulations, so the final plant captures elastic elements as well as active force generation. Please highlight where each model excels and where it falls short—accuracy at high velocities, numerical stiffness, computational load, etc. Control is the next layer. I’m leaning on an Adaptive PID scheme for quick tuning plus Model Predictive Control for constraint handling and optimal effort distribution across the three actuators. If any part of the adaptive loop or MPC horizon length clashes with real-time requirements, call it out and suggest refinements. Because the elbow sees very different demands opening a door versus power-lifting a load, we need a library of use-case profiles. For each load-speed scenario you’ll run MATLAB/Simulink simulations, log joint angle, actuator forces, and energy use, and visualise how the controller reallocates effort among the three drives. Deliverables • Concise state-of-the-art summary (with references) • MATLAB/Simulink files for the hybrid plant model • Implementation of Adaptive PID and MPC controllers, fully commented • Simulation results for at least three distinct load/speed cases, with plots and a short interpretation report • Validation discussion that cross-checks our numbers against any available open-source biomech data sets or published papers Acceptance criteria The simulation must demonstrate stable tracking (<2° RMS error) under all test cases, with actuator saturation avoided. Code should run in current MATLAB releases without extra toolboxes beyond Control System and Optimization. If this aligns with your expertise in robotics, compliant actuation, and advanced control, I’m ready to dive in and iterate quickly.

ID do Projeto: 40156087