The control of an upper-limb exoskeleton by means of a particle swarm optimized active force control for motor recovery

A. P.P. Abdul Majeed*, Z. Taha, I. Mohd Khairuddin, M. Y. Wong, M. A. Abdullah, M. A. Mohd Razman

*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

5 Citations (Scopus)

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.

Original languageEnglish
Title of host publication3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success
Subtitle of host publicationFrom Theory to Practice, 2016
EditorsFatimah Ibrahim, Mohd Yazed Ahmad, Jadeera Phaik Geok Cheong, Rizal Razman, Victor S. Selvanayagam, Juliana Usman
PublisherSpringer Verlag
Pages56-62
Number of pages7
ISBN (Print)9789811037368
DOIs
Publication statusPublished - 2017
Externally publishedYes
Event3rd International Conference on Movement, Health and Exercise, MoHE 2016 - Malacca, Malaysia
Duration: 28 Sept 201630 Sept 2016

Publication series

NameIFMBE Proceedings
Volume58
ISSN (Print)1680-0737

Conference

Conference3rd International Conference on Movement, Health and Exercise, MoHE 2016
Country/TerritoryMalaysia
CityMalacca
Period28/09/1630/09/16

Keywords

  • Active force control
  • Particle swarm optimisation
  • rehabilitation
  • Robust
  • Trajectory tracking control

Fingerprint

Dive into the research topics of 'The control of an upper-limb exoskeleton by means of a particle swarm optimized active force control for motor recovery'. Together they form a unique fingerprint.

Cite this