Modelling and control of an upper extremity exoskeleton for rehabilitation

Zahari Taha, Anwar P.P.Abdul Majeed, Mohd Yashim Wong Paul Tze, Mohammed Abdo Hashem, Ismail Mohd Khairuddin, Mohd Azraai Mohd Razman

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)


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.

Original languageEnglish
Article number012134
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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