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

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

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Abstract

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.

Item Type: Book Section
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 27 Jul 2017 08:25
Last Modified: 18 Sep 2018 08:33
URI: http://umpir.ump.edu.my/id/eprint/18316
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