Control design of a de-weighting upper limb exoskeleton
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 ob...
| Main Authors: | , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2018
|
| Online Access: | http://psasir.upm.edu.my/id/eprint/36615/1/Control%20design%20of%20a%20de-weighting%20upper%20limb%20exoskeleton.pdf |
| _version_ | 1796972948791230464 |
|---|---|
| author | Ali, Siti Khadijah Tokhi, M. Osman |
| author_facet | Ali, Siti Khadijah Tokhi, M. Osman |
| author_sort | Ali, Siti Khadijah |
| collection | UPM |
| description | 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. |
| first_indexed | 2024-03-06T08:35:51Z |
| format | Conference or Workshop Item |
| id | upm.eprints-36615 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T08:35:51Z |
| publishDate | 2018 |
| publisher | IEEE |
| record_format | dspace |
| spelling | upm.eprints-366152020-06-16T01:31:01Z http://psasir.upm.edu.my/id/eprint/36615/ Control design of a de-weighting upper limb exoskeleton Ali, Siti Khadijah Tokhi, M. Osman 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. IEEE 2018 Conference or Workshop Item PeerReviewed text en http://psasir.upm.edu.my/id/eprint/36615/1/Control%20design%20of%20a%20de-weighting%20upper%20limb%20exoskeleton.pdf 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. . 10.1109/INCAE.2018.8579374 |
| spellingShingle | Ali, Siti Khadijah Tokhi, M. Osman Control design of a de-weighting upper limb exoskeleton |
| title | Control design of a de-weighting upper limb exoskeleton |
| title_full | Control design of a de-weighting upper limb exoskeleton |
| title_fullStr | Control design of a de-weighting upper limb exoskeleton |
| title_full_unstemmed | Control design of a de-weighting upper limb exoskeleton |
| title_short | Control design of a de-weighting upper limb exoskeleton |
| title_sort | control design of a de weighting upper limb exoskeleton |
| url | http://psasir.upm.edu.my/id/eprint/36615/1/Control%20design%20of%20a%20de-weighting%20upper%20limb%20exoskeleton.pdf |
| work_keys_str_mv | AT alisitikhadijah controldesignofadeweightingupperlimbexoskeleton AT tokhimosman controldesignofadeweightingupperlimbexoskeleton |