The identification and control of an upper extremity exoskeleton for motor recovery
This paper presents the model identification and control of an upper-limb exoskeleton system. The exoskeleton is intended for the rehabilitation of the elbow joint. The input-output measurement i.e. current and angular displacement of the actuator is used to identify the model via MATLAB System lden...
| Main Authors: | , , , , , |
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| Format: | Book Chapter |
| Language: | English |
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Centre for Advanced Research on Energy (CARe)
2017
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| Online Access: | http://umpir.ump.edu.my/id/eprint/18316/1/14.The%20identification%20and%20control%20of%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf |
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| author | Zahari, Taha Anwar, P. P. Abdul Majeed M. A., Abdullah I.M., Khairuddin M.A., Zakaria M. H. A., Hassan |
| author_facet | Zahari, Taha Anwar, P. P. Abdul Majeed M. A., Abdullah I.M., Khairuddin M.A., Zakaria M. H. A., Hassan |
| author_sort | Zahari, Taha |
| collection | UMP |
| description | This paper presents the model identification and control of an upper-limb exoskeleton system. The exoskeleton is intended for the rehabilitation of the elbow joint. The input-output measurement i.e. current and angular displacement of the actuator is used to identify the model via MATLAB System ldentification Toolbox. The identification plant is then used to pcrfom the Hardware in the Loop (HIL) simulation to identity apptopriate Proportional Derivative(PD) control gains prior to its employment of the actual exoskeleton system. It was established that the exoskeleton is able to track the joint trajectory prescribed with an acceptable error bounded between+/- 2. |
| first_indexed | 2024-03-06T12:17:15Z |
| format | Book Chapter |
| id | UMPir18316 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:17:15Z |
| publishDate | 2017 |
| publisher | Centre for Advanced Research on Energy (CARe) |
| record_format | dspace |
| spelling | UMPir183162018-09-18T08:33:07Z http://umpir.ump.edu.my/id/eprint/18316/ The identification and control of an upper extremity exoskeleton for motor recovery Zahari, Taha Anwar, P. P. Abdul Majeed M. A., Abdullah I.M., Khairuddin M.A., Zakaria M. H. A., Hassan TJ Mechanical engineering and machinery TS Manufactures This paper presents the model identification and control of an upper-limb exoskeleton system. The exoskeleton is intended for the rehabilitation of the elbow joint. The input-output measurement i.e. current and angular displacement of the actuator is used to identify the model via MATLAB System ldentification Toolbox. The identification plant is then used to pcrfom the Hardware in the Loop (HIL) simulation to identity apptopriate Proportional Derivative(PD) control gains prior to its employment of the actual exoskeleton system. It was established that the exoskeleton is able to track the joint trajectory prescribed with an acceptable error bounded between+/- 2. Centre for Advanced Research on Energy (CARe) 2017-03-30 Book Chapter PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/18316/1/14.The%20identification%20and%20control%20of%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf Zahari, Taha and Anwar, P. P. Abdul Majeed and M. A., Abdullah and I.M., Khairuddin and M.A., Zakaria and M. H. A., Hassan (2017) The identification and control of an upper extremity exoskeleton for motor recovery. In: Proceedings of Mechanical Engineering Research Day 2017. Centre for Advanced Research on Energy (CARe), p. 483. ISBN 9789670257884 https://books.google.com.my/books?id=XYYlDwAAQBAJ&pg=PA483&dq=The+identification+and+control+of+an+upper+extremity+exoskeleton+for+motor+recovery&hl=en&sa=X&ved=0ahUKEwjGgI21hqnVAhWCW7wKHZwCDIoQ6AEIJTAA#v=onepage&q=The%20identification%20and%20control%20o |
| spellingShingle | TJ Mechanical engineering and machinery TS Manufactures Zahari, Taha Anwar, P. P. Abdul Majeed M. A., Abdullah I.M., Khairuddin M.A., Zakaria M. H. A., Hassan The identification and control of an upper extremity exoskeleton for motor recovery |
| title | The identification and control of an upper extremity exoskeleton for motor recovery |
| title_full | The identification and control of an upper extremity exoskeleton for motor recovery |
| title_fullStr | The identification and control of an upper extremity exoskeleton for motor recovery |
| title_full_unstemmed | The identification and control of an upper extremity exoskeleton for motor recovery |
| title_short | The identification and control of an upper extremity exoskeleton for motor recovery |
| title_sort | identification and control of an upper extremity exoskeleton for motor recovery |
| topic | TJ Mechanical engineering and machinery TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/18316/1/14.The%20identification%20and%20control%20of%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf |
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