Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation

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 ar...

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Main Authors: Zahari, Taha, Anwar, P. P. A. Majeed, Mohd Yashim, Wong Paul Tze, Ali, Mohammed A. H., Ismail, Mohd Khairuddin, Mohd Azraai, Mohd Razman
Format: Article
Language:English
Published: IOP Publishing 2016
Subjects:
Online Access:http://umpir.ump.edu.my/id/eprint/12971/
http://umpir.ump.edu.my/id/eprint/12971/
http://umpir.ump.edu.my/id/eprint/12971/
http://umpir.ump.edu.my/id/eprint/12971/1/Modelling%20and%20Control%20of%20An%20Upper%20Extremity%20Exoskeleton%20for%20Rehabilitation.pdf
id ump-12971
recordtype eprints
spelling ump-129712018-02-27T07:22:35Z http://umpir.ump.edu.my/id/eprint/12971/ Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation Zahari, Taha Anwar, P. P. A. Majeed Mohd Yashim, Wong Paul Tze Ali, Mohammed A. H. Ismail, Mohd Khairuddin Mohd Azraai, Mohd Razman TS Manufactures 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. IOP Publishing 2016 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/12971/1/Modelling%20and%20Control%20of%20An%20Upper%20Extremity%20Exoskeleton%20for%20Rehabilitation.pdf Zahari, Taha and Anwar, P. P. A. Majeed and Mohd Yashim, Wong Paul Tze and Ali, Mohammed A. H. and Ismail, Mohd Khairuddin and Mohd Azraai, Mohd Razman (2016) Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation. IOP Conference Series: Materials Science and Engineering, 114 (012134). pp. 1-8. ISSN 1757-8981 (Print); 1757-899X (Online) http://dx.doi.org/10.1088/1757-899X/114/1/012134 DOI: 10.1088/1757-899X/114/1/012134
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TS Manufactures
spellingShingle TS Manufactures
Zahari, Taha
Anwar, P. P. A. Majeed
Mohd Yashim, Wong Paul Tze
Ali, Mohammed A. H.
Ismail, Mohd Khairuddin
Mohd Azraai, Mohd Razman
Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation
description 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.
format Article
author Zahari, Taha
Anwar, P. P. A. Majeed
Mohd Yashim, Wong Paul Tze
Ali, Mohammed A. H.
Ismail, Mohd Khairuddin
Mohd Azraai, Mohd Razman
author_facet Zahari, Taha
Anwar, P. P. A. Majeed
Mohd Yashim, Wong Paul Tze
Ali, Mohammed A. H.
Ismail, Mohd Khairuddin
Mohd Azraai, Mohd Razman
author_sort Zahari, Taha
title Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation
title_short Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation
title_full Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation
title_fullStr Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation
title_full_unstemmed Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation
title_sort modelling and control of an upper extremity exoskeleton for rehabilitation
publisher IOP Publishing
publishDate 2016
url http://umpir.ump.edu.my/id/eprint/12971/
http://umpir.ump.edu.my/id/eprint/12971/
http://umpir.ump.edu.my/id/eprint/12971/
http://umpir.ump.edu.my/id/eprint/12971/1/Modelling%20and%20Control%20of%20An%20Upper%20Extremity%20Exoskeleton%20for%20Rehabilitation.pdf
first_indexed 2023-09-18T22:15:04Z
last_indexed 2023-09-18T22:15:04Z
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