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

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)

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Abstract

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.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Article No.: 012136
Uncontrolled Keywords: Upper extremity exoskeleton; Active force control (AFC)
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 30 Aug 2016 03:54
Last Modified: 20 Mar 2018 06:28
URI: http://umpir.ump.edu.my/id/eprint/13972
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