Control design of a de-weighting upper limb exoskeleton
One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the ob...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2018
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| Online Access: | http://psasir.upm.edu.my/id/eprint/36615/ http://psasir.upm.edu.my/id/eprint/36615/1/Control%20design%20of%20a%20de-weighting%20upper%20limb%20exoskeleton.pdf |
| Summary: | One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the objective of this paper is to investigate development of a control strategy for the upper-limb exoskeleton. In this paper, a new control mechanism for an upper-limb exoskeleton is proposed. A fuzzy-based PD controller and PID are used in the proposed control mechanism, and a comparative assessment of the performance of both controllers is made. The results show that the control mechanism with fuzzy-based PD controller performs better than the PID controller in terms of trajectory tracking accuracy and control torque analysis. |
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