The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach
This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exos...
| Main Authors: | , , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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Elsevier
2017
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| Online Access: | http://umpir.ump.edu.my/id/eprint/17105/ http://umpir.ump.edu.my/id/eprint/17105/7/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf |
| _version_ | 1848820346257408000 |
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| author | Anwar, P. P. Abdul Majeed Zahari, Taha A. F. Z., Abidin Muhammad Aizzat, Zakaria Ismail, Mohd Khairuddin M. A. M., Razman Z., Mohamed |
| author_facet | Anwar, P. P. Abdul Majeed Zahari, Taha A. F. Z., Abidin Muhammad Aizzat, Zakaria Ismail, Mohd Khairuddin M. A. M., Razman Z., Mohamed |
| author_sort | Anwar, P. P. Abdul Majeed |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exoskeleton whilst it is carrying out a joint space trajectory tracking. The disturbance is introduced to examine the compensating efficacy of the proposed controller. A particle swarm optimised active force control strategy is proposed to augment the disturbance regulation of a conventional proportional-derivative (PD) control law. The simulation study suggests that the proposed control approach mitigates well the disturbance effect whilst maintaining its tracking performance which is seemingly in stark contrast with its traditional PD counterpart. |
| first_indexed | 2025-11-15T02:07:59Z |
| format | Conference or Workshop Item |
| id | ump-17105 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:07:59Z |
| publishDate | 2017 |
| publisher | Elsevier |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-171052018-05-28T04:00:02Z http://umpir.ump.edu.my/id/eprint/17105/ The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach Anwar, P. P. Abdul Majeed Zahari, Taha A. F. Z., Abidin Muhammad Aizzat, Zakaria Ismail, Mohd Khairuddin M. A. M., Razman Z., Mohamed TS Manufactures This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exoskeleton whilst it is carrying out a joint space trajectory tracking. The disturbance is introduced to examine the compensating efficacy of the proposed controller. A particle swarm optimised active force control strategy is proposed to augment the disturbance regulation of a conventional proportional-derivative (PD) control law. The simulation study suggests that the proposed control approach mitigates well the disturbance effect whilst maintaining its tracking performance which is seemingly in stark contrast with its traditional PD counterpart. Elsevier 2017 Conference or Workshop Item PeerReviewed application/pdf en cc_by_nc_nd http://umpir.ump.edu.my/id/eprint/17105/7/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf Anwar, P. P. Abdul Majeed and Zahari, Taha and A. F. Z., Abidin and Muhammad Aizzat, Zakaria and Ismail, Mohd Khairuddin and M. A. M., Razman and Z., Mohamed (2017) The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach. In: IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 , 17- 20 December 2016 , Hosei UniversityTokyo; Japan. pp. 183-190., 105. ISSN 1877-0509 (Published) https://doi.org/10.1016/j.procs.2017.01.204 doi: org/10.1016/j.procs.2017.01.204 |
| spellingShingle | TS Manufactures Anwar, P. P. Abdul Majeed Zahari, Taha A. F. Z., Abidin Muhammad Aizzat, Zakaria Ismail, Mohd Khairuddin M. A. M., Razman Z., Mohamed The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach |
| title | The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach |
| title_full | The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach |
| title_fullStr | The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach |
| title_full_unstemmed | The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach |
| title_short | The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach |
| title_sort | control of a lower limb exoskeleton for gait rehabilitation: a hybrid active force control approach |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/17105/ http://umpir.ump.edu.my/id/eprint/17105/ http://umpir.ump.edu.my/id/eprint/17105/ http://umpir.ump.edu.my/id/eprint/17105/7/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf |