TY - JOUR
T1 - A hybrid joint based controller for an upper extremity exoskeleton
AU - Khairuddin, Ismail Mohd
AU - Taha, Zahari
AU - Majeed, Anwar P.P.Abdul
AU - Deboucha, Abdel Hakeem
AU - Razman, Mohd Azraai Mohd
AU - Jaafar, Abdul Aziz
AU - Mohamed, Zulkifli
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. 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84973110478&partnerID=8YFLogxK
U2 - 10.1088/1757-899X/114/1/012133
DO - 10.1088/1757-899X/114/1/012133
M3 - Conference article
AN - SCOPUS:84973110478
SN - 1757-8981
VL - 114
JO - IOP Conference Series: Materials Science and Engineering
JF - IOP Conference Series: Materials Science and Engineering
IS - 1
M1 - 012133
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 -