A hybrid active force control of a lower limb exoskeleton for gait rehabilitation

Anwar, P. P. Abdul Majeed and Zahari, Taha and Mohammed A., Hashem Ali and Ismail, Mohd Khairuddin and Deboucha, Abdelhakim and Mohd Yashim, Wong Paul Tze and Amar Faiz, Zainal Abidin (2018) A hybrid active force control of a lower limb exoskeleton for gait rehabilitation. Biomedizinische Technik, 63 (4). pp. 491-500. ISSN 0013-5585. (Published)

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Abstract

Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton.

Item Type: Article
Additional Information: Indexed by Scopus
Uncontrolled Keywords: particle swarm optimisation; rehabilitation;robust; trajectory tracking control
Subjects: R Medicine > RZ Other systems of medicine
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Miss. Ratna Wilis Haryati Mustapa
Date Deposited: 19 Mar 2018 05:35
Last Modified: 07 Aug 2018 04:15
URI: http://umpir.ump.edu.my/id/eprint/20805
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