A hybrid joint based controller for an upper extremity exoskeleton

Ismail Mohd Khairuddin, Zahari Taha, Anwar P.P.Abdul Majeed, Abdel Hakeem Deboucha, Mohd Azraai Mohd Razman, Abdul Aziz Jaafar, Zulkifli Mohamed

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture.

Original languageEnglish
Article number012133
JournalIOP Conference Series: Materials Science and Engineering
Issue number1
Publication statusPublished - 3 Mar 2016
Externally publishedYes
EventJoint Conference of 2nd International Manufacturing Engineering Conference, iMEC 2015 and 3rd Asia-Pacific Conference on Manufacturing Systems, APCOMS 2015 - Kuala Lumpur, Malaysia
Duration: 12 Nov 201514 Nov 2015


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