The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach
This paper examines the efficacy of a robust class control scheme namely active force control (AFC) on a two degrees of freedom upper limb exoskeleton system in performing typical rehabilitation trajectory on the shoulder and elbow joints. The dynamics of the system was attained via the Lagrangian p...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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Centre for Advanced Research on Energy
2018
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/21574/ http://umpir.ump.edu.my/id/eprint/21574/1/The%20control%20of%20an%20upper%20limb%20exoskeleton%20system.pdf |
| _version_ | 1848821380710137856 |
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| author | Anwar, P. P. Abdul Majeed Zahari, Taha M. A., Abdullah I.M., Khairuddin M. A., Zakaria |
| author_facet | Anwar, P. P. Abdul Majeed Zahari, Taha M. A., Abdullah I.M., Khairuddin M. A., Zakaria |
| author_sort | Anwar, P. P. Abdul Majeed |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper examines the efficacy of a robust class control scheme namely active force control (AFC) on a two degrees of freedom upper limb exoskeleton system in performing typical rehabilitation trajectory on the shoulder and elbow joints. The dynamics of the system was attained via the Lagrangian principle. The ability of the Proportional-Derivative AFC (PDAFC) architecture optimized by means of fuzzy logic (FL) and artificial neural network (ANN) against classical PD in mitigating constant disturbance effect on the aforesaid joints were also evaluated. It was demonstrated from the simulation investigation that the PDANNAFC scheme triumphs against other schemes evaluated. |
| first_indexed | 2025-11-15T02:24:26Z |
| format | Conference or Workshop Item |
| id | ump-21574 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:24:26Z |
| publishDate | 2018 |
| publisher | Centre for Advanced Research on Energy |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-215742018-11-30T01:29:06Z http://umpir.ump.edu.my/id/eprint/21574/ The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach Anwar, P. P. Abdul Majeed Zahari, Taha M. A., Abdullah I.M., Khairuddin M. A., Zakaria TS Manufactures This paper examines the efficacy of a robust class control scheme namely active force control (AFC) on a two degrees of freedom upper limb exoskeleton system in performing typical rehabilitation trajectory on the shoulder and elbow joints. The dynamics of the system was attained via the Lagrangian principle. The ability of the Proportional-Derivative AFC (PDAFC) architecture optimized by means of fuzzy logic (FL) and artificial neural network (ANN) against classical PD in mitigating constant disturbance effect on the aforesaid joints were also evaluated. It was demonstrated from the simulation investigation that the PDANNAFC scheme triumphs against other schemes evaluated. Centre for Advanced Research on Energy 2018-05 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21574/1/The%20control%20of%20an%20upper%20limb%20exoskeleton%20system.pdf Anwar, P. P. Abdul Majeed and Zahari, Taha and M. A., Abdullah and I.M., Khairuddin and M. A., Zakaria (2018) The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach. In: Proceedings of Mechanical Engineering Research Day 2018 , 03 May 2018 , Kampus Teknologi UTeM, Melaka. pp. 297-298.. ISBN 9789672145202 (Published) http://www3.utem.edu.my/care/proceedings/ |
| spellingShingle | TS Manufactures Anwar, P. P. Abdul Majeed Zahari, Taha M. A., Abdullah I.M., Khairuddin M. A., Zakaria The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach |
| title | The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach |
| title_full | The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach |
| title_fullStr | The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach |
| title_full_unstemmed | The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach |
| title_short | The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach |
| title_sort | control of an upper limb exoskeleton system for passive stroke rehabilitation: an active force control approach |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/21574/ http://umpir.ump.edu.my/id/eprint/21574/ http://umpir.ump.edu.my/id/eprint/21574/1/The%20control%20of%20an%20upper%20limb%20exoskeleton%20system.pdf |