The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach

The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach

This paper examines the efficacy of a robust class control scheme namely active force control (AFC) on a two degrees of freedom upper limb exoskeleton system in performing typical rehabilitation trajectory on the shoulder and elbow joints. The dynamics of the system was attained via the Lagrangian p...

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Main Authors: Anwar, P. P. Abdul Majeed, Zahari, Taha, M. A., Abdullah, I.M., Khairuddin, M. A., Zakaria
Format: Conference or Workshop Item
Language:English
Published: Centre for Advanced Research on Energy 2018
Subjects:
TS Manufactures
Online Access:http://umpir.ump.edu.my/id/eprint/21574/
http://umpir.ump.edu.my/id/eprint/21574/
http://umpir.ump.edu.my/id/eprint/21574/1/The%20control%20of%20an%20upper%20limb%20exoskeleton%20system.pdf
id ump-21574
recordtype eprints
spelling ump-215742018-11-30T01:29:06Z http://umpir.ump.edu.my/id/eprint/21574/ The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach Anwar, P. P. Abdul Majeed Zahari, Taha M. A., Abdullah I.M., Khairuddin M. A., Zakaria TS Manufactures This paper examines the efficacy of a robust class control scheme namely active force control (AFC) on a two degrees of freedom upper limb exoskeleton system in performing typical rehabilitation trajectory on the shoulder and elbow joints. The dynamics of the system was attained via the Lagrangian principle. The ability of the Proportional-Derivative AFC (PDAFC) architecture optimized by means of fuzzy logic (FL) and artificial neural network (ANN) against classical PD in mitigating constant disturbance effect on the aforesaid joints were also evaluated. It was demonstrated from the simulation investigation that the PDANNAFC scheme triumphs against other schemes evaluated. Centre for Advanced Research on Energy 2018-05 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21574/1/The%20control%20of%20an%20upper%20limb%20exoskeleton%20system.pdf Anwar, P. P. Abdul Majeed and Zahari, Taha and M. A., Abdullah and I.M., Khairuddin and M. A., Zakaria (2018) The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach. In: Proceedings of Mechanical Engineering Research Day 2018, 03 May 2018 , Kampus Teknologi UTeM, Melaka. pp. 297-298.. ISBN 9789672145202 http://www3.utem.edu.my/care/proceedings/
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
M. A., Abdullah
I.M., Khairuddin
M. A., Zakaria
The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach
description This paper examines the efficacy of a robust class control scheme namely active force control (AFC) on a two degrees of freedom upper limb exoskeleton system in performing typical rehabilitation trajectory on the shoulder and elbow joints. The dynamics of the system was attained via the Lagrangian principle. The ability of the Proportional-Derivative AFC (PDAFC) architecture optimized by means of fuzzy logic (FL) and artificial neural network (ANN) against classical PD in mitigating constant disturbance effect on the aforesaid joints were also evaluated. It was demonstrated from the simulation investigation that the PDANNAFC scheme triumphs against other schemes evaluated.
format Conference or Workshop Item
author Anwar, P. P. Abdul Majeed
Zahari, Taha
M. A., Abdullah
I.M., Khairuddin
M. A., Zakaria
author_facet Anwar, P. P. Abdul Majeed
Zahari, Taha
M. A., Abdullah
I.M., Khairuddin
M. A., Zakaria
author_sort Anwar, P. P. Abdul Majeed
title The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach
title_short The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach
title_full The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach
title_fullStr The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach
title_full_unstemmed The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach
title_sort control of an upper limb exoskeleton system for passive stroke rehabilitation: an active force control approach
publisher Centre for Advanced Research on Energy
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/21574/
http://umpir.ump.edu.my/id/eprint/21574/
http://umpir.ump.edu.my/id/eprint/21574/1/The%20control%20of%20an%20upper%20limb%20exoskeleton%20system.pdf
first_indexed 2023-09-18T22:31:42Z
last_indexed 2023-09-18T22:31:42Z
_version_ 1777416329374990336

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