TY - JOUR
T1 - Modelling and control of an upper extremity exoskeleton for rehabilitation
AU - Taha, Zahari
AU - Majeed, Anwar P.P.Abdul
AU - Tze, Mohd Yashim Wong Paul
AU - Hashem, Mohammed Abdo
AU - Khairuddin, Ismail Mohd
AU - Razman, Mohd Azraai Mohd
N1 - Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2016/3/3
Y1 - 2016/3/3
N2 - This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Lagrangian formulation was employed to obtain the dynamic modelling of both the anthropometric based human upper limb as well as the exoskeleton that comprises of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed to investigate its efficacy performing a joint task trajectory tracking in performing flexion/extension on the elbow joint as well as the forward adduction/abduction on the shoulder joint. An active force control (AFC) algorithm is also incorporated into the aforementioned controller to examine its effectiveness in compensating disturbances. It was found from the study that the AFC-PD performed well against the disturbances introduced into the system without compromising its tracking performances as compared to the conventional PD control architecture.
AB - This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Lagrangian formulation was employed to obtain the dynamic modelling of both the anthropometric based human upper limb as well as the exoskeleton that comprises of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed to investigate its efficacy performing a joint task trajectory tracking in performing flexion/extension on the elbow joint as well as the forward adduction/abduction on the shoulder joint. An active force control (AFC) algorithm is also incorporated into the aforementioned controller to examine its effectiveness in compensating disturbances. It was found from the study that the AFC-PD performed well against the disturbances introduced into the system without compromising its tracking performances as compared to the conventional PD control architecture.
UR - http://www.scopus.com/inward/record.url?scp=84973168604&partnerID=8YFLogxK
U2 - 10.1088/1757-899X/114/1/012134
DO - 10.1088/1757-899X/114/1/012134
M3 - Conference article
AN - SCOPUS:84973168604
SN - 1757-8981
VL - 114
JO - IOP Conference Series: Materials Science and Engineering
JF - IOP Conference Series: Materials Science and Engineering
IS - 1
M1 - 012134
T2 - Joint Conference of 2nd International Manufacturing Engineering Conference, iMEC 2015 and 3rd Asia-Pacific Conference on Manufacturing Systems, APCOMS 2015
Y2 - 12 November 2015 through 14 November 2015
ER -