TY - GEN
T1 - The control of an upper extremity exoskeleton for stroke rehabilitation by means of a hybrid active force control
AU - Taha, Zahari
AU - Abdul Majeed, Anwar P.P.
AU - Abdullah, Muhammad Amirul
AU - Azmi, Kamil Zakwan Mohd
AU - Zakaria, Muhammad Aizzat Bin
AU - Ghani, Ahmad Shahrizan Abd
AU - Hassan, Mohd Hasnun Arif
AU - Razman, Mohd Azraai Mohd
N1 - Funding Information:
Acknowledgements The authors would like to thank Universiti Malaysia Pahang for providing the grant (RDU160106) in supporting this research.
Publisher Copyright:
© Springer International Publishing AG, part of Springer Nature 2019.
PY - 2019
Y1 - 2019
N2 - This paper evaluates the efficacy of a hybrid active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory in the presence of disturbance attributed by the limb weight.
AB - This paper evaluates the efficacy of a hybrid active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory in the presence of disturbance attributed by the limb weight.
UR - http://www.scopus.com/inward/record.url?scp=85048211954&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-78452-6_30
DO - 10.1007/978-3-319-78452-6_30
M3 - Conference Proceeding
AN - SCOPUS:85048211954
SN - 9783319784519
T3 - Advances in Intelligent Systems and Computing
SP - 361
EP - 370
BT - Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications
A2 - Myung, Hyun
A2 - Xu, Weiliang
A2 - Jung, Jin-Woo
A2 - Choi, Han-Lim
A2 - Kim, Jong-Hwan
A2 - Kim, Junmo
A2 - Matson, Eric T
PB - Springer Verlag
T2 - 5th International Conference on Robot Intelligence Technology and Applications, RiTA 2017
Y2 - 13 December 2017 through 15 December 2017
ER -