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Forward and inverse predictive model for the trajectory tracking control of a lower limb exoskeleton for gait rehabilitation: simulation modelling analysis

Muhammad Aizzat, Zakaria and Anwar, P. P. Abdul Majeed and Zahari, Taha and M. M., Alim and Baarath, K. (2018) Forward and inverse predictive model for the trajectory tracking control of a lower limb exoskeleton for gait rehabilitation: simulation modelling analysis. In: 4th Asia Pacific Conference on Manufacturing Systems and the 3rd International Manufacturing Engineering Conference, APCOMS-iMEC 2017, 7-8 December 2017 , Yogyakarta, Indonesia. pp. 1-6., 319 (1). ISSN 1757-8981 (Print); 1757-899X (Online)

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Abstract

The movement of a lower limb exoskeleton requires a reasonably accurate control method to allow for an effective gait therapy session to transpire. Trajectory tracking is a nontrivial means of passive rehabilitation technique to correct the motion of the patients' impaired limb. This paper proposes an inverse predictive model that is coupled together with the forward kinematics of the exoskeleton to estimate the behaviour of the system. A conventional PID control system is used to converge the required joint angles based on the desired input from the inverse predictive model. It was demonstrated through the present study, that the inverse predictive model is capable of meeting the trajectory demand with acceptable error tolerance. The findings further suggest the ability of the predictive model of the exoskeleton to predict a correct joint angle command to the system.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Indexed by SCOPUS
Uncontrolled Keywords: Exoskeleton (Robotics); Inverse problems; Joints (anatomy); Manufacture; Three term control systems; Trajectories
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 16 May 2019 06:48
Last Modified: 16 May 2019 06:48
URI: http://umpir.ump.edu.my/id/eprint/23591
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