Control design of a de-weighting upper limb exoskeleton

Citation

Ali, Siti Khadijah and Tokhi, M. Osman (2018) Control design of a de-weighting upper limb exoskeleton. In: 2018 International Conference on Applied Engineering (ICAE 2018), 3-4 Oct. 2018, Batam, Indonesia. .

Abstract

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.

Download File

Text (Abstract)
Control design of a de-weighting upper limb exoskeleton.pdf
Download (5kB)

Additional Metadata

Item Type:	Conference or Workshop Item (Paper)
Divisions:	Faculty of Computer Science and Information Technology
DOI Number:	https://doi.org/10.1109/INCAE.2018.8579374
Publisher:	IEEE
Keywords:	Exoskeleton; Kinematics and dynamics; Euler-Lagrange approach; Fuzzy-based control
Depositing User:	Nabilah Mustapa
Date Deposited:	16 Jun 2020 01:31
Last Modified:	16 Jun 2020 01:31
Altmetrics:	http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1109/INCAE.2018.8579374
URI:	http://psasir.upm.edu.my/id/eprint/36615
Statistic Details:	View Download Statistic

Actions (login required)

View Item