The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery

This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Euler-Lagrange 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 uppe...

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Main Authors:	Anwar, P. P. Abdul Majeed, Zahari, Taha, Ismail, Mohd Khairuddin, Mohd Yashim, Wong Paul Tze, Muhammad Amirul, Abdullah, Mohd Azraai, M. Razman
Format:	Conference or Workshop Item
Language:	English
Published:	Springer 2017
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/14775/ http://umpir.ump.edu.my/id/eprint/14775/ http://umpir.ump.edu.my/id/eprint/14775/7/c-f46.pdf

id	ump-14775
recordtype	eprints
spelling	ump-147752018-10-09T02:49:58Z http://umpir.ump.edu.my/id/eprint/14775/ The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery Anwar, P. P. Abdul Majeed Zahari, Taha Ismail, Mohd Khairuddin Mohd Yashim, Wong Paul Tze Muhammad Amirul, Abdullah Mohd Azraai, M. Razman TS Manufactures This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Euler-Lagrange 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 proportionalderivative (PD) architecture is employed to investigate its efficacy in performing joint-space control objectives namely the flexion/extension of the elbow joint as well as the forward adduction/abduction on the shoulder joint. An intelligent active force control (AFC) optimised by means of the Particle Swarm Optimisation (PSO) algorithm is also incorporated into the aforementioned controller to examine its effectiveness in compensating disturbances. It was found from the study that the PD- PSOAFC performed well against the disturbances introduced into the system without compromising its tracking performances as compared to the classical pure PD counterpart. Springer 2017 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/14775/7/c-f46.pdf Anwar, P. P. Abdul Majeed and Zahari, Taha and Ismail, Mohd Khairuddin and Mohd Yashim, Wong Paul Tze and Muhammad Amirul, Abdullah and Mohd Azraai, M. Razman (2017) The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery. In: IFMBE Proceedings: 3rd International Conference on Movement, Health & Exercise (MoHE 2016), 28-30 September 2016 , Melaka, Malaysia. pp. 56-62., 58. ISBN 978-981-10-3737-5 http://doi.org/10.1007/978-981-10-3737-5_12
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 Anwar, P. P. Abdul Majeed Zahari, Taha Ismail, Mohd Khairuddin Mohd Yashim, Wong Paul Tze Muhammad Amirul, Abdullah Mohd Azraai, M. Razman The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery
description	This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Euler-Lagrange 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 proportionalderivative (PD) architecture is employed to investigate its efficacy in performing joint-space control objectives namely the flexion/extension of the elbow joint as well as the forward adduction/abduction on the shoulder joint. An intelligent active force control (AFC) optimised by means of the Particle Swarm Optimisation (PSO) algorithm is also incorporated into the aforementioned controller to examine its effectiveness in compensating disturbances. It was found from the study that the PD- PSOAFC performed well against the disturbances introduced into the system without compromising its tracking performances as compared to the classical pure PD counterpart.
format	Conference or Workshop Item
author	Anwar, P. P. Abdul Majeed Zahari, Taha Ismail, Mohd Khairuddin Mohd Yashim, Wong Paul Tze Muhammad Amirul, Abdullah Mohd Azraai, M. Razman
author_facet	Anwar, P. P. Abdul Majeed Zahari, Taha Ismail, Mohd Khairuddin Mohd Yashim, Wong Paul Tze Muhammad Amirul, Abdullah Mohd Azraai, M. Razman
author_sort	Anwar, P. P. Abdul Majeed
title	The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery
title_short	The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery
title_full	The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery
title_fullStr	The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery
title_full_unstemmed	The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery
title_sort	control of an upper-limb exoskeleton by means of a particle swarm optimised active force control for motor recovery
publisher	Springer
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/14775/ http://umpir.ump.edu.my/id/eprint/14775/ http://umpir.ump.edu.my/id/eprint/14775/7/c-f46.pdf
first_indexed	2023-09-18T22:18:54Z
last_indexed	2023-09-18T22:18:54Z
_version_	1777415523607248896

The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimised Active Force Control for Motor Recovery

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