Modelling and control of standing up and sitting down manoeuver
Exoskeleton Robot is one of the most significant examples of human-oriented robotic devices. Nevertheless, the main challenge remains the complexity of their mechanical design and human-robot interfaces. This paper is an outcome of a research to model and to simulate the support of mobility of an el...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Universiti Putra Malaysia Press
2017
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| Online Access: | http://psasir.upm.edu.my/id/eprint/55874/1/28-JTS%28S%29-0142-2016-4thProof.pdf |
| _version_ | 1825931304534802432 |
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| author | Ishak, Asnor Juraiza Tokhi, Mohammad Osman Al-Quraishi, Maged Saleh Saeed Linares, Daniela Miranda Ali, S. K. |
| author_facet | Ishak, Asnor Juraiza Tokhi, Mohammad Osman Al-Quraishi, Maged Saleh Saeed Linares, Daniela Miranda Ali, S. K. |
| author_sort | Ishak, Asnor Juraiza |
| collection | UPM |
| description | Exoskeleton Robot is one of the most significant examples of human-oriented robotic devices. Nevertheless, the main challenge remains the complexity of their mechanical design and human-robot interfaces. This paper is an outcome of a research to model and to simulate the support of mobility of an elderly people using exoskeleton. Exoskeleton is developed in order to complement the corporal deficiencies of an elderly person in standing up and sitting down. When the natural joint torques is integrated with the exoskeleton's torque the result is in an overall torque that is comparable to that of a physically normal person. This work focuses on standing-up and sitting-down movements. Appropriate simulation models are formulated and their performances examined against measured data. The results with PID control show that at different speed of standing up and sitting down, the joint torques can be compromised. This is done within allowable limits. |
| first_indexed | 2024-03-06T09:24:43Z |
| format | Article |
| id | upm.eprints-55874 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T09:24:43Z |
| publishDate | 2017 |
| publisher | Universiti Putra Malaysia Press |
| record_format | dspace |
| spelling | upm.eprints-558742020-04-15T16:55:19Z http://psasir.upm.edu.my/id/eprint/55874/ Modelling and control of standing up and sitting down manoeuver Ishak, Asnor Juraiza Tokhi, Mohammad Osman Al-Quraishi, Maged Saleh Saeed Linares, Daniela Miranda Ali, S. K. Exoskeleton Robot is one of the most significant examples of human-oriented robotic devices. Nevertheless, the main challenge remains the complexity of their mechanical design and human-robot interfaces. This paper is an outcome of a research to model and to simulate the support of mobility of an elderly people using exoskeleton. Exoskeleton is developed in order to complement the corporal deficiencies of an elderly person in standing up and sitting down. When the natural joint torques is integrated with the exoskeleton's torque the result is in an overall torque that is comparable to that of a physically normal person. This work focuses on standing-up and sitting-down movements. Appropriate simulation models are formulated and their performances examined against measured data. The results with PID control show that at different speed of standing up and sitting down, the joint torques can be compromised. This is done within allowable limits. Universiti Putra Malaysia Press 2017 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/55874/1/28-JTS%28S%29-0142-2016-4thProof.pdf Ishak, Asnor Juraiza and Tokhi, Mohammad Osman and Al-Quraishi, Maged Saleh Saeed and Linares, Daniela Miranda and Ali, S. K. (2017) Modelling and control of standing up and sitting down manoeuver. Pertanika Journal of Science & Technology, 25 (spec. Feb.). pp. 243-250. ISSN 0128-7680; ESSN: 2231-8526 http://www.pertanika.upm.edu.my/Pertanika%20PAPERS/JST%20Vol.%2025%20(S)%20Feb.%202017/28-JTS(S)-0142-2016-4thProof.pdf |
| spellingShingle | Ishak, Asnor Juraiza Tokhi, Mohammad Osman Al-Quraishi, Maged Saleh Saeed Linares, Daniela Miranda Ali, S. K. Modelling and control of standing up and sitting down manoeuver |
| title | Modelling and control of standing up and sitting down manoeuver |
| title_full | Modelling and control of standing up and sitting down manoeuver |
| title_fullStr | Modelling and control of standing up and sitting down manoeuver |
| title_full_unstemmed | Modelling and control of standing up and sitting down manoeuver |
| title_short | Modelling and control of standing up and sitting down manoeuver |
| title_sort | modelling and control of standing up and sitting down manoeuver |
| url | http://psasir.upm.edu.my/id/eprint/55874/1/28-JTS%28S%29-0142-2016-4thProof.pdf |
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