The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

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...

Full description

Bibliographic Details
Main Authors: Anwar, P. P. Abdul Majeed, Zahari, Taha, A. F. Z., Abidin, Muhammad Aizzat, Zakaria, Ismail, Mohd Khairuddin, M. A. M., Razman, Z., Mohamed
Format: Conference or Workshop Item
Language:English
Published: Elsevier 2017
Subjects:
TS Manufactures
Online Access: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
id ump-17105
recordtype eprints
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 https://doi.org/10.1016/j.procs.2017.01.204 doi: org/10.1016/j.procs.2017.01.204
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TS Manufactures
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
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.
format Conference or Workshop Item
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
title 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_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_sort control of a lower limb exoskeleton for gait rehabilitation: a hybrid active force control approach
publisher Elsevier
publishDate 2017
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
first_indexed 2023-09-18T22:23:22Z
last_indexed 2023-09-18T22:23:22Z
_version_ 1777415804757737472

Similar Items