A hybrid active force control of a lower limb exoskeleton for gait rehabilitation

Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal...

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Main Authors:	Anwar, P. P. Abdul Majeed, Zahari, Taha, Mohammed A., Hashem Ali, Ismail, Mohd Khairuddin, Deboucha, Abdelhakim, Mohd Yashim, Wong Paul Tze, Amar Faiz, Zainal Abidin
Format:	Article
Language:	English English
Published:	Walter de Gruyter GmbH 2018
Subjects:	RZ Other systems of medicine
Online Access:	http://umpir.ump.edu.my/id/eprint/20805/ http://umpir.ump.edu.my/id/eprint/20805/ http://umpir.ump.edu.my/id/eprint/20805/ http://umpir.ump.edu.my/id/eprint/20805/7/A%20hybrid%20active%20force%20control%20of%20a%20lower%20limb%20exoskeleton%20for%20gait%20rehabilitaion.pdf http://umpir.ump.edu.my/id/eprint/20805/8/A%20hybrid%20active%20force%20control%20of%20a%20lower%20limb%20exoskeleton%20for%20gait%20rehabilitaion1.pdf

id	ump-20805
recordtype	eprints
spelling	ump-208052018-08-07T04:15:27Z http://umpir.ump.edu.my/id/eprint/20805/ A hybrid active force control of a lower limb exoskeleton for gait rehabilitation Anwar, P. P. Abdul Majeed Zahari, Taha Mohammed A., Hashem Ali Ismail, Mohd Khairuddin Deboucha, Abdelhakim Mohd Yashim, Wong Paul Tze Amar Faiz, Zainal Abidin RZ Other systems of medicine Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton. Walter de Gruyter GmbH 2018-07-15 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/20805/7/A%20hybrid%20active%20force%20control%20of%20a%20lower%20limb%20exoskeleton%20for%20gait%20rehabilitaion.pdf pdf en http://umpir.ump.edu.my/id/eprint/20805/8/A%20hybrid%20active%20force%20control%20of%20a%20lower%20limb%20exoskeleton%20for%20gait%20rehabilitaion1.pdf Anwar, P. P. Abdul Majeed and Zahari, Taha and Mohammed A., Hashem Ali and Ismail, Mohd Khairuddin and Deboucha, Abdelhakim and Mohd Yashim, Wong Paul Tze and Amar Faiz, Zainal Abidin (2018) A hybrid active force control of a lower limb exoskeleton for gait rehabilitation. Biomedizinische Technik, 63 (4). pp. 491-500. ISSN 0013-5585 http://www.degruyter.com/view/j/bmte.ahead-of-print/bmt-2016-0039/bmt-2016-0039.xml 10.1515/bmt-2016-0038
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	RZ Other systems of medicine
spellingShingle	RZ Other systems of medicine Anwar, P. P. Abdul Majeed Zahari, Taha Mohammed A., Hashem Ali Ismail, Mohd Khairuddin Deboucha, Abdelhakim Mohd Yashim, Wong Paul Tze Amar Faiz, Zainal Abidin A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
description	Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton.
format	Article
author	Anwar, P. P. Abdul Majeed Zahari, Taha Mohammed A., Hashem Ali Ismail, Mohd Khairuddin Deboucha, Abdelhakim Mohd Yashim, Wong Paul Tze Amar Faiz, Zainal Abidin
author_facet	Anwar, P. P. Abdul Majeed Zahari, Taha Mohammed A., Hashem Ali Ismail, Mohd Khairuddin Deboucha, Abdelhakim Mohd Yashim, Wong Paul Tze Amar Faiz, Zainal Abidin
author_sort	Anwar, P. P. Abdul Majeed
title	A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
title_short	A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
title_full	A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
title_fullStr	A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
title_full_unstemmed	A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
title_sort	hybrid active force control of a lower limb exoskeleton for gait rehabilitation
publisher	Walter de Gruyter GmbH
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/20805/ http://umpir.ump.edu.my/id/eprint/20805/ http://umpir.ump.edu.my/id/eprint/20805/ http://umpir.ump.edu.my/id/eprint/20805/7/A%20hybrid%20active%20force%20control%20of%20a%20lower%20limb%20exoskeleton%20for%20gait%20rehabilitaion.pdf http://umpir.ump.edu.my/id/eprint/20805/8/A%20hybrid%20active%20force%20control%20of%20a%20lower%20limb%20exoskeleton%20for%20gait%20rehabilitaion1.pdf
first_indexed	2023-09-18T22:30:13Z
last_indexed	2023-09-18T22:30:13Z
_version_	1777416235955257344

A hybrid active force control of a lower limb exoskeleton for gait rehabilitation

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