Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation
This paper presents the control of a one degree of freedom for lower limb platform based end effector ankle foot orthosis for rehabilitation. The plant of the system is obtained through system identification approach and a proportional-integral (PI) architecture is employed to investigate its effica...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Penerbit UMP
2019
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| Online Access: | http://umpir.ump.edu.my/id/eprint/24728/ http://umpir.ump.edu.my/id/eprint/24728/7/Torque%20control%20analysis%20of%20Platform%20Based%20End%20Effector%20Ankle.pdf |
| _version_ | 1848822107072364544 |
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| author | Abdul Haleem, Habeeb Mohamed Muhammad Aizzat, Zakaria |
| author_facet | Abdul Haleem, Habeeb Mohamed Muhammad Aizzat, Zakaria |
| author_sort | Abdul Haleem, Habeeb Mohamed |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents the control of a one degree of freedom for lower limb platform based end effector ankle foot orthosis for rehabilitation. The plant of the system is obtained through system identification approach and a proportional-integral (PI) architecture is employed to investigate its efficacy in performing joint-space control objectives namely the dorsi-plantar flexion of the ankle joint. It was found from the study that the PI performed well against the torque control parameter for the system. Variation of load was tested as a disturbance to the system to check the system stability. |
| first_indexed | 2025-11-15T02:35:59Z |
| format | Article |
| id | ump-24728 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:35:59Z |
| publishDate | 2019 |
| publisher | Penerbit UMP |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-247282019-11-21T05:05:14Z http://umpir.ump.edu.my/id/eprint/24728/ Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation Abdul Haleem, Habeeb Mohamed Muhammad Aizzat, Zakaria TS Manufactures This paper presents the control of a one degree of freedom for lower limb platform based end effector ankle foot orthosis for rehabilitation. The plant of the system is obtained through system identification approach and a proportional-integral (PI) architecture is employed to investigate its efficacy in performing joint-space control objectives namely the dorsi-plantar flexion of the ankle joint. It was found from the study that the PI performed well against the torque control parameter for the system. Variation of load was tested as a disturbance to the system to check the system stability. Penerbit UMP 2019 Article PeerReviewed pdf en cc_by_nc_4 http://umpir.ump.edu.my/id/eprint/24728/7/Torque%20control%20analysis%20of%20Platform%20Based%20End%20Effector%20Ankle.pdf Abdul Haleem, Habeeb Mohamed and Muhammad Aizzat, Zakaria (2019) Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation. Mekatronika - Journal of Intelligent Manufacturing & Mechatronics, 1 (1). pp. 35-38. ISSN 2637-0883. (Published) http://journal.ump.edu.my/mekatronika/article/view/160 https://doi.org/10.15282/mekatronika.v1i1.160 |
| spellingShingle | TS Manufactures Abdul Haleem, Habeeb Mohamed Muhammad Aizzat, Zakaria Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation |
| title | Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation |
| title_full | Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation |
| title_fullStr | Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation |
| title_full_unstemmed | Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation |
| title_short | Torque control analysis of platform based end effector ankle foot orthosis for rehabilitation |
| title_sort | torque control analysis of platform based end effector ankle foot orthosis for rehabilitation |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/24728/ http://umpir.ump.edu.my/id/eprint/24728/ http://umpir.ump.edu.my/id/eprint/24728/ http://umpir.ump.edu.my/id/eprint/24728/7/Torque%20control%20analysis%20of%20Platform%20Based%20End%20Effector%20Ankle.pdf |