The identification and control of an upper extremity exoskeleton for motor recovery

The identification and control of an upper extremity exoskeleton for motor recovery

This paper presents the model identification and control of an upper-limb exoskeleton system. The exoskeleton is intended for the rehabilitation of the elbow joint. The input-output measurement i.e. current and angular displacement of the actuator is used to identify the model via MATLAB System lden...

Full description

Bibliographic Details
Main Authors: Zahari, Taha, Anwar, P. P. Abdul Majeed, M. A., Abdullah, I.M., Khairuddin, M.A., Zakaria, M. H. A., Hassan
Format: Book Section
Language:English
Published: Centre for Advanced Research on Energy (CARe) 2017
Subjects:
TJ Mechanical engineering and machinery
TS Manufactures
Online Access:http://umpir.ump.edu.my/id/eprint/18316/
http://umpir.ump.edu.my/id/eprint/18316/
http://umpir.ump.edu.my/id/eprint/18316/1/14.The%20identification%20and%20control%20of%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf
id ump-18316
recordtype eprints
spelling ump-183162018-09-18T08:33:07Z http://umpir.ump.edu.my/id/eprint/18316/ The identification and control of an upper extremity exoskeleton for motor recovery Zahari, Taha Anwar, P. P. Abdul Majeed M. A., Abdullah I.M., Khairuddin M.A., Zakaria M. H. A., Hassan TJ Mechanical engineering and machinery TS Manufactures This paper presents the model identification and control of an upper-limb exoskeleton system. The exoskeleton is intended for the rehabilitation of the elbow joint. The input-output measurement i.e. current and angular displacement of the actuator is used to identify the model via MATLAB System ldentification Toolbox. The identification plant is then used to pcrfom the Hardware in the Loop (HIL) simulation to identity apptopriate Proportional Derivative(PD) control gains prior to its employment of the actual exoskeleton system. It was established that the exoskeleton is able to track the joint trajectory prescribed with an acceptable error bounded between+/- 2. Centre for Advanced Research on Energy (CARe) 2017-03-30 Book Section PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/18316/1/14.The%20identification%20and%20control%20of%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf Zahari, Taha and Anwar, P. P. Abdul Majeed and M. A., Abdullah and I.M., Khairuddin and M.A., Zakaria and M. H. A., Hassan (2017) The identification and control of an upper extremity exoskeleton for motor recovery. In: Proceedings of Mechanical Engineering Research Day 2017. Centre for Advanced Research on Energy (CARe), p. 483. ISBN 9789670257884 https://books.google.com.my/books?id=XYYlDwAAQBAJ&pg=PA483&dq=The+identification+and+control+of+an+upper+extremity+exoskeleton+for+motor+recovery&hl=en&sa=X&ved=0ahUKEwjGgI21hqnVAhWCW7wKHZwCDIoQ6AEIJTAA#v=onepage&q=The%20identification%20and%20control%20o
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TJ Mechanical engineering and machinery
TS Manufactures
spellingShingle TJ Mechanical engineering and machinery
TS Manufactures
Zahari, Taha
Anwar, P. P. Abdul Majeed
M. A., Abdullah
I.M., Khairuddin
M.A., Zakaria
M. H. A., Hassan
The identification and control of an upper extremity exoskeleton for motor recovery
description This paper presents the model identification and control of an upper-limb exoskeleton system. The exoskeleton is intended for the rehabilitation of the elbow joint. The input-output measurement i.e. current and angular displacement of the actuator is used to identify the model via MATLAB System ldentification Toolbox. The identification plant is then used to pcrfom the Hardware in the Loop (HIL) simulation to identity apptopriate Proportional Derivative(PD) control gains prior to its employment of the actual exoskeleton system. It was established that the exoskeleton is able to track the joint trajectory prescribed with an acceptable error bounded between+/- 2.
format Book Section
author Zahari, Taha
Anwar, P. P. Abdul Majeed
M. A., Abdullah
I.M., Khairuddin
M.A., Zakaria
M. H. A., Hassan
author_facet Zahari, Taha
Anwar, P. P. Abdul Majeed
M. A., Abdullah
I.M., Khairuddin
M.A., Zakaria
M. H. A., Hassan
author_sort Zahari, Taha
title The identification and control of an upper extremity exoskeleton for motor recovery
title_short The identification and control of an upper extremity exoskeleton for motor recovery
title_full The identification and control of an upper extremity exoskeleton for motor recovery
title_fullStr The identification and control of an upper extremity exoskeleton for motor recovery
title_full_unstemmed The identification and control of an upper extremity exoskeleton for motor recovery
title_sort identification and control of an upper extremity exoskeleton for motor recovery
publisher Centre for Advanced Research on Energy (CARe)
publishDate 2017
url http://umpir.ump.edu.my/id/eprint/18316/
http://umpir.ump.edu.my/id/eprint/18316/
http://umpir.ump.edu.my/id/eprint/18316/1/14.The%20identification%20and%20control%20of%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf
first_indexed 2023-09-18T22:25:52Z
last_indexed 2023-09-18T22:25:52Z
_version_ 1777415962449936384

Similar Items