Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation
This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Lagrangian formulation was employed to obtain the dynamic modelling of both the anthropometric based human upper limb as well as the exoskeleton that comprises of the upper ar...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IOP Publishing
2016
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| Online Access: | http://umpir.ump.edu.my/id/eprint/12971/ http://umpir.ump.edu.my/id/eprint/12971/1/Modelling%20and%20Control%20of%20An%20Upper%20Extremity%20Exoskeleton%20for%20Rehabilitation.pdf |
| _version_ | 1848819356143714304 |
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| author | Zahari, Taha Anwar, P. P. A. Majeed Mohd Yashim, Wong Paul Tze Ali, Mohammed A. H. Ismail, Mohd Khairuddin Mohd Azraai, Mohd Razman |
| author_facet | Zahari, Taha Anwar, P. P. A. Majeed Mohd Yashim, Wong Paul Tze Ali, Mohammed A. H. Ismail, Mohd Khairuddin Mohd Azraai, Mohd Razman |
| author_sort | Zahari, Taha |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Lagrangian formulation was employed to obtain the dynamic modelling of both the anthropometric based human upper limb as well as the exoskeleton that comprises of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed to investigate its efficacy performing a joint task trajectory tracking in performing flexion/extension on the elbow joint as well as the forward adduction/abduction on the shoulder joint. An active force control (AFC) algorithm is also incorporated into the aforementioned controller to examine its effectiveness in compensating disturbances. It was found from the study that the AFC-PD performed well against the disturbances introduced into the system without compromising its tracking performances as compared to the conventional PD control architecture. |
| first_indexed | 2025-11-15T01:52:15Z |
| format | Article |
| id | ump-12971 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:52:15Z |
| publishDate | 2016 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-129712018-02-27T07:22:35Z http://umpir.ump.edu.my/id/eprint/12971/ Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation Zahari, Taha Anwar, P. P. A. Majeed Mohd Yashim, Wong Paul Tze Ali, Mohammed A. H. Ismail, Mohd Khairuddin Mohd Azraai, Mohd Razman TS Manufactures This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Lagrangian formulation was employed to obtain the dynamic modelling of both the anthropometric based human upper limb as well as the exoskeleton that comprises of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed to investigate its efficacy performing a joint task trajectory tracking in performing flexion/extension on the elbow joint as well as the forward adduction/abduction on the shoulder joint. An active force control (AFC) algorithm is also incorporated into the aforementioned controller to examine its effectiveness in compensating disturbances. It was found from the study that the AFC-PD performed well against the disturbances introduced into the system without compromising its tracking performances as compared to the conventional PD control architecture. IOP Publishing 2016 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/12971/1/Modelling%20and%20Control%20of%20An%20Upper%20Extremity%20Exoskeleton%20for%20Rehabilitation.pdf Zahari, Taha and Anwar, P. P. A. Majeed and Mohd Yashim, Wong Paul Tze and Ali, Mohammed A. H. and Ismail, Mohd Khairuddin and Mohd Azraai, Mohd Razman (2016) Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation. IOP Conference Series: Materials Science and Engineering, 114 (012134). pp. 1-8. ISSN 1757-8981 (Print); 1757-899X (Online). (Published) http://dx.doi.org/10.1088/1757-899X/114/1/012134 DOI: 10.1088/1757-899X/114/1/012134 |
| spellingShingle | TS Manufactures Zahari, Taha Anwar, P. P. A. Majeed Mohd Yashim, Wong Paul Tze Ali, Mohammed A. H. Ismail, Mohd Khairuddin Mohd Azraai, Mohd Razman Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation |
| title | Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation |
| title_full | Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation |
| title_fullStr | Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation |
| title_full_unstemmed | Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation |
| title_short | Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation |
| title_sort | modelling and control of an upper extremity exoskeleton for rehabilitation |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/12971/ http://umpir.ump.edu.my/id/eprint/12971/ http://umpir.ump.edu.my/id/eprint/12971/ http://umpir.ump.edu.my/id/eprint/12971/1/Modelling%20and%20Control%20of%20An%20Upper%20Extremity%20Exoskeleton%20for%20Rehabilitation.pdf |