An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery

This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well...

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Main Authors:	Wan Hasbullah, Mohd Isa, Zahari, Taha, Ismail, Mohd Khairuddin, Anwar, P. P. A. Majeed, Khairul Fikri, Muhammad, Ali, Mohammed A. H., Jamaluddin, Mahmud, Zulkifli, Mohamed
Format:	Conference or Workshop Item
Language:	English
Published:	IOP Publishing 2016
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/13972/ http://umpir.ump.edu.my/id/eprint/13972/ http://umpir.ump.edu.my/id/eprint/13972/ http://umpir.ump.edu.my/id/eprint/13972/1/An%20intelligent%20active%20force%20control%20algorithm%20to%20control%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf

id	ump-13972
recordtype	eprints
spelling	ump-139722018-03-20T06:28:26Z http://umpir.ump.edu.my/id/eprint/13972/ An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery Wan Hasbullah, Mohd Isa Zahari, Taha Ismail, Mohd Khairuddin Anwar, P. P. A. Majeed Khairul Fikri, Muhammad Ali, Mohammed A. H. Jamaluddin, Mahmud Zulkifli, Mohamed TS Manufactures This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking. IOP Publishing 2016 Conference or Workshop Item PeerReviewed application/pdf en cc_by http://umpir.ump.edu.my/id/eprint/13972/1/An%20intelligent%20active%20force%20control%20algorithm%20to%20control%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf Wan Hasbullah, Mohd Isa and Zahari, Taha and Ismail, Mohd Khairuddin and Anwar, P. P. A. Majeed and Khairul Fikri, Muhammad and Ali, Mohammed A. H. and Jamaluddin, Mahmud and Zulkifli, Mohamed (2016) An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery. In: IOP Conference Series: Materials Science and Engineering: 2nd International Manufacturing Engineering Conference and 3rd Asia-Pacific Conference on Manufacturing Systems (iMEC-APCOMS 2015), 12–14 November 2015 , Kuala Lumpur, Malaysia. pp. 1-9., 114. ISSN 1757-8981 (Print), 1757-899X (Online) http://dx.doi.org/10.1088/1757-899X/114/1/012136 doi:10.1088/1757-899X/114/1/012136
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 Wan Hasbullah, Mohd Isa Zahari, Taha Ismail, Mohd Khairuddin Anwar, P. P. A. Majeed Khairul Fikri, Muhammad Ali, Mohammed A. H. Jamaluddin, Mahmud Zulkifli, Mohamed An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery
description	This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.
format	Conference or Workshop Item
author	Wan Hasbullah, Mohd Isa Zahari, Taha Ismail, Mohd Khairuddin Anwar, P. P. A. Majeed Khairul Fikri, Muhammad Ali, Mohammed A. H. Jamaluddin, Mahmud Zulkifli, Mohamed
author_facet	Wan Hasbullah, Mohd Isa Zahari, Taha Ismail, Mohd Khairuddin Anwar, P. P. A. Majeed Khairul Fikri, Muhammad Ali, Mohammed A. H. Jamaluddin, Mahmud Zulkifli, Mohamed
author_sort	Wan Hasbullah, Mohd Isa
title	An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery
title_short	An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery
title_full	An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery
title_fullStr	An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery
title_full_unstemmed	An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery
title_sort	intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery
publisher	IOP Publishing
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/13972/ http://umpir.ump.edu.my/id/eprint/13972/ http://umpir.ump.edu.my/id/eprint/13972/ http://umpir.ump.edu.my/id/eprint/13972/1/An%20intelligent%20active%20force%20control%20algorithm%20to%20control%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf
first_indexed	2023-09-18T22:17:11Z
last_indexed	2023-09-18T22:17:11Z
_version_	1777415415241113600

An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery

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