Robotic exoskeleton control for lower limb rehabilitation of knee joint

Wearable devices such as exoskeletons are being opted frequently during rehabilitation processes for the post stroke recovery. Such de-vices are playing important role in the development of assistive rehabilitation robotic systems. In this paper three control strategies MPC and LQR and PID are intro...

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Main Authors:	Ahmed, Syed Faiz, Joyo, Muhammad Kamran, Ali, Athar, Mohd Ali, Abdul Malik, Abdul Kadir, Kushsairy, Naqvi, Yarooq R., Abu Bakar, Badri, Shah, Asadullah
Format:	Article
Language:	English English
Published:	Science Publishing Corporation Inc 2018
Subjects:	T10.5 Communication of technical information
Online Access:	http://irep.iium.edu.my/64343/ http://irep.iium.edu.my/64343/ http://irep.iium.edu.my/64343/ http://irep.iium.edu.my/64343/1/64343_Robotic%20Exoskeleton%20Control%20for%20Lower.pdf http://irep.iium.edu.my/64343/2/64343_Robotic%20Exoskeleton%20Control%20for%20Lower_SCOPUS.pdf

id	iium-64343
recordtype	eprints
spelling	iium-643432018-07-02T05:47:37Z http://irep.iium.edu.my/64343/ Robotic exoskeleton control for lower limb rehabilitation of knee joint Ahmed, Syed Faiz Joyo, Muhammad Kamran Ali, Athar Mohd Ali, Abdul Malik Abdul Kadir, Kushsairy Naqvi, Yarooq R. Abu Bakar, Badri Shah, Asadullah T10.5 Communication of technical information Wearable devices such as exoskeletons are being opted frequently during rehabilitation processes for the post stroke recovery. Such de-vices are playing important role in the development of assistive rehabilitation robotic systems. In this paper three control strategies MPC and LQR and PID are introduced which were applied to knee joint of lower limb exoskeleton model for passive exercise. The two con-trols MPC and LQR are model based control which empowers them for stable responses. In this paper the analysis of robustness of con-trol is done under the noisy and disturbance conditions. The results showed good performance of the exoskeleton model with the applied controls in the provided condition. In the future work the applied controls will be implemented on hardware. Science Publishing Corporation Inc 2018 Article PeerReviewed application/pdf en http://irep.iium.edu.my/64343/1/64343_Robotic%20Exoskeleton%20Control%20for%20Lower.pdf application/pdf en http://irep.iium.edu.my/64343/2/64343_Robotic%20Exoskeleton%20Control%20for%20Lower_SCOPUS.pdf Ahmed, Syed Faiz and Joyo, Muhammad Kamran and Ali, Athar and Mohd Ali, Abdul Malik and Abdul Kadir, Kushsairy and Naqvi, Yarooq R. and Abu Bakar, Badri and Shah, Asadullah (2018) Robotic exoskeleton control for lower limb rehabilitation of knee joint. International Journal of Engineering & Technology (UAE), 7 (2.34 (Special issue 34)). pp. 56-59. ISSN 2227-524X https://www.sciencepubco.com/index.php/ijet/article/view/13912 10.14419/ijet.v7i2.34.13912
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T10.5 Communication of technical information
spellingShingle	T10.5 Communication of technical information Ahmed, Syed Faiz Joyo, Muhammad Kamran Ali, Athar Mohd Ali, Abdul Malik Abdul Kadir, Kushsairy Naqvi, Yarooq R. Abu Bakar, Badri Shah, Asadullah Robotic exoskeleton control for lower limb rehabilitation of knee joint
description	Wearable devices such as exoskeletons are being opted frequently during rehabilitation processes for the post stroke recovery. Such de-vices are playing important role in the development of assistive rehabilitation robotic systems. In this paper three control strategies MPC and LQR and PID are introduced which were applied to knee joint of lower limb exoskeleton model for passive exercise. The two con-trols MPC and LQR are model based control which empowers them for stable responses. In this paper the analysis of robustness of con-trol is done under the noisy and disturbance conditions. The results showed good performance of the exoskeleton model with the applied controls in the provided condition. In the future work the applied controls will be implemented on hardware.
format	Article
author	Ahmed, Syed Faiz Joyo, Muhammad Kamran Ali, Athar Mohd Ali, Abdul Malik Abdul Kadir, Kushsairy Naqvi, Yarooq R. Abu Bakar, Badri Shah, Asadullah
author_facet	Ahmed, Syed Faiz Joyo, Muhammad Kamran Ali, Athar Mohd Ali, Abdul Malik Abdul Kadir, Kushsairy Naqvi, Yarooq R. Abu Bakar, Badri Shah, Asadullah
author_sort	Ahmed, Syed Faiz
title	Robotic exoskeleton control for lower limb rehabilitation of knee joint
title_short	Robotic exoskeleton control for lower limb rehabilitation of knee joint
title_full	Robotic exoskeleton control for lower limb rehabilitation of knee joint
title_fullStr	Robotic exoskeleton control for lower limb rehabilitation of knee joint
title_full_unstemmed	Robotic exoskeleton control for lower limb rehabilitation of knee joint
title_sort	robotic exoskeleton control for lower limb rehabilitation of knee joint
publisher	Science Publishing Corporation Inc
publishDate	2018
url	http://irep.iium.edu.my/64343/ http://irep.iium.edu.my/64343/ http://irep.iium.edu.my/64343/ http://irep.iium.edu.my/64343/1/64343_Robotic%20Exoskeleton%20Control%20for%20Lower.pdf http://irep.iium.edu.my/64343/2/64343_Robotic%20Exoskeleton%20Control%20for%20Lower_SCOPUS.pdf
first_indexed	2023-09-18T21:31:18Z
last_indexed	2023-09-18T21:31:18Z
_version_	1777412529227563008

Robotic exoskeleton control for lower limb rehabilitation of knee joint

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