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The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

Anwar, P. P. Abdul Majeed and Zahari, Taha and A. F. Z., Abidin and Muhammad Aizzat, Zakaria and Ismail, Mohd Khairuddin and M. A. M., Razman and Z., Mohamed (2017) The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach. In: IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016, 17- 20 December 2016 , Hosei UniversityTokyo; Japan. pp. 183-190., 105. ISSN 1877-0509

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Abstract

This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exoskeleton whilst it is carrying out a joint space trajectory tracking. The disturbance is introduced to examine the compensating efficacy of the proposed controller. A particle swarm optimised active force control strategy is proposed to augment the disturbance regulation of a conventional proportional-derivative (PD) control law. The simulation study suggests that the proposed control approach mitigates well the disturbance effect whilst maintaining its tracking performance which is seemingly in stark contrast with its traditional PD counterpart.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Indexed in Scopus
Uncontrolled Keywords: Active force control; Particle swarm optimisation; Three-link manipulator; Robust; Gait rehabilitation; Trajectory tracking control
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 19 Jul 2017 03:57
Last Modified: 28 May 2018 04:00
URI: http://umpir.ump.edu.my/id/eprint/17105
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