@inproceedings{f6e534be83c64281b2285a5aee93b93f,
title = "The control of an upper-limb exoskeleton by means of a particle swarm optimized active force control for motor recovery",
abstract = "The modelling and control of a two degree of freedom upper extremity exoskeleton for motor recovery is presented in this paper. The dynamic modelling of the upper arm and the forearm for both the anthropometric based human upper limb as well as the exoskeleton was attained via the Euler-Lagrange formulation. A proportional-derivative (PD) architecture is employed to assess its effectiveness in performing joint-space control objectives namely the forward adduction/abduction on the shoulder joint and the flexion/extension of the elbow joint. An intelligent active force control (AFC) optimised by means of the Particle Swarm Optimisation (PSO) algorithm is also integrated into the aforesaid controller to examine its efficacy in compensating disturbances. It was established from the simulation study that the PD- PSOAFC performed notably well in catering the disturbances introduced to the system whilst maintaining its excellent tracking performance as compared to its pure classical PD counterpart.",
keywords = "Active force control, Particle swarm optimisation, rehabilitation, Robust, Trajectory tracking control",
author = "{Abdul Majeed}, {A. P.P.} and Z. Taha and {Mohd Khairuddin}, I. and Wong, {M. Y.} and Abdullah, {M. A.} and {Mohd Razman}, {M. A.}",
note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2017.; 3rd International Conference on Movement, Health and Exercise, MoHE 2016 ; Conference date: 28-09-2016 Through 30-09-2016",
year = "2017",
doi = "10.1007/978-981-10-3737-5_12",
language = "English",
isbn = "9789811037368",
series = "IFMBE Proceedings",
publisher = "Springer Verlag",
pages = "56--62",
editor = "Fatimah Ibrahim and Ahmad, {Mohd Yazed} and Cheong, {Jadeera Phaik Geok} and Rizal Razman and Selvanayagam, {Victor S.} and Juliana Usman",
booktitle = "3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success",
}