Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy
One of the most common issues to human is fatigue. A technology known as exoskeleton has been identified as one of the solutions to address this issue. However, there are two issues that need to be solved. One of them is the control approach. Hence, the main aim of this work, is to investigate the c...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Universitas Ahmad Dahlan
2019
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| Online Access: | http://psasir.upm.edu.my/id/eprint/81031/1/CONTROL.pdf |
| _version_ | 1796980847209873408 |
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| author | Ali, Siti Khadijah Tokhi, Mohammad Osman |
| author_facet | Ali, Siti Khadijah Tokhi, Mohammad Osman |
| author_sort | Ali, Siti Khadijah |
| collection | UPM |
| description | One of the most common issues to human is fatigue. A technology known as exoskeleton has been identified as one of the solutions to address this issue. However, there are two issues that need to be solved. One of them is the control approach. Hence, the main aim of this work, is to investigate the control design for upper-limb exoskeleton. An extended based fuzzy control is proposed to observe the effectiveness of the exoskeleton in dealing with human with different strength. Three conditions of human strength were applied. PID was used for a comparison purpose. It is shown that with the proposed control approach, the exoskeleton can assist human to achieve the desired trajectory accurately with a minimal amount of torque required. |
| first_indexed | 2024-03-06T10:29:04Z |
| format | Article |
| id | upm.eprints-81031 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T10:29:04Z |
| publishDate | 2019 |
| publisher | Universitas Ahmad Dahlan |
| record_format | dspace |
| spelling | upm.eprints-810312020-10-13T04:27:05Z http://psasir.upm.edu.my/id/eprint/81031/ Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy Ali, Siti Khadijah Tokhi, Mohammad Osman One of the most common issues to human is fatigue. A technology known as exoskeleton has been identified as one of the solutions to address this issue. However, there are two issues that need to be solved. One of them is the control approach. Hence, the main aim of this work, is to investigate the control design for upper-limb exoskeleton. An extended based fuzzy control is proposed to observe the effectiveness of the exoskeleton in dealing with human with different strength. Three conditions of human strength were applied. PID was used for a comparison purpose. It is shown that with the proposed control approach, the exoskeleton can assist human to achieve the desired trajectory accurately with a minimal amount of torque required. Universitas Ahmad Dahlan 2019 Article NonPeerReviewed text en http://psasir.upm.edu.my/id/eprint/81031/1/CONTROL.pdf Ali, Siti Khadijah and Tokhi, Mohammad Osman (2019) Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy. Indonesian Journal of Electrical Engineering and Informatics, 7 (1). pp. 1-14. ISSN 2089-3272 http://section.iaesonline.com/index.php/IJEEI/article/view/938 10.11591/ijeei.v7i1.938 |
| spellingShingle | Ali, Siti Khadijah Tokhi, Mohammad Osman Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy |
| title | Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy |
| title_full | Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy |
| title_fullStr | Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy |
| title_full_unstemmed | Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy |
| title_short | Control design of a de-weighting upper-limb exoskeleton: extended-based fuzzy |
| title_sort | control design of a de weighting upper limb exoskeleton extended based fuzzy |
| url | http://psasir.upm.edu.my/id/eprint/81031/1/CONTROL.pdf |
| work_keys_str_mv | AT alisitikhadijah controldesignofadeweightingupperlimbexoskeletonextendedbasedfuzzy AT tokhimohammadosman controldesignofadeweightingupperlimbexoskeletonextendedbasedfuzzy |