A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton

This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is b...

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Main Authors:	Ismail, Mohd Khairuddin, Zahari, Taha, Anwar, P. P. Abdul Majeed, Abdel Hakeem, Deboucha, Mohd Azraai, M. Razman, Abdul Aziz, Jaafar, Zulkifli, Mohamed
Format:	Article
Language:	English
Published:	IOP Publishing 2016
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/12511/ http://umpir.ump.edu.my/id/eprint/12511/ http://umpir.ump.edu.my/id/eprint/12511/ http://umpir.ump.edu.my/id/eprint/12511/1/A%20hybrid%20joint%20based%20controller%20for%20an%20upper%20extremity%20exoskeleton.pdf

id	oai:umpir.ump.edu.my:12511
recordtype	eprints
spelling	oai:umpir.ump.edu.my:125112018-05-28T07:43:31Z http://umpir.ump.edu.my/id/eprint/12511/ A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton Ismail, Mohd Khairuddin Zahari, Taha Anwar, P. P. Abdul Majeed Abdel Hakeem, Deboucha Mohd Azraai, M. Razman Abdul Aziz, Jaafar Zulkifli, Mohamed TS Manufactures This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture. IOP Publishing 2016 Article PeerReviewed application/pdf en cc_by http://umpir.ump.edu.my/id/eprint/12511/1/A%20hybrid%20joint%20based%20controller%20for%20an%20upper%20extremity%20exoskeleton.pdf Ismail, Mohd Khairuddin and Zahari, Taha and Anwar, P. P. Abdul Majeed and Abdel Hakeem, Deboucha and Mohd Azraai, M. Razman and Abdul Aziz, Jaafar and Zulkifli, Mohamed (2016) A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton. Materials Science and Engineering, 114. pp. 1-8. ISSN 1757-899X http://iopscience.iop.org/article/10.1088/1757-899X/114/1/012133/meta doi:10.1088/1757-899X/114/1/012133
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Ismail, Mohd Khairuddin Zahari, Taha Anwar, P. P. Abdul Majeed Abdel Hakeem, Deboucha Mohd Azraai, M. Razman Abdul Aziz, Jaafar Zulkifli, Mohamed A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton
description	This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture.
format	Article
author	Ismail, Mohd Khairuddin Zahari, Taha Anwar, P. P. Abdul Majeed Abdel Hakeem, Deboucha Mohd Azraai, M. Razman Abdul Aziz, Jaafar Zulkifli, Mohamed
author_facet	Ismail, Mohd Khairuddin Zahari, Taha Anwar, P. P. Abdul Majeed Abdel Hakeem, Deboucha Mohd Azraai, M. Razman Abdul Aziz, Jaafar Zulkifli, Mohamed
author_sort	Ismail, Mohd Khairuddin
title	A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton
title_short	A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton
title_full	A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton
title_fullStr	A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton
title_full_unstemmed	A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton
title_sort	hybrid joint based controller for an upper extremity exoskeleton
publisher	IOP Publishing
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/12511/ http://umpir.ump.edu.my/id/eprint/12511/ http://umpir.ump.edu.my/id/eprint/12511/ http://umpir.ump.edu.my/id/eprint/12511/1/A%20hybrid%20joint%20based%20controller%20for%20an%20upper%20extremity%20exoskeleton.pdf
first_indexed	2018-09-07T01:39:23Z
last_indexed	2018-09-07T01:39:23Z
_version_	1610910912997228544

A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton

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