Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton
Performing heavy physical tasks, overhead work and long working hours are some examples of activities that can lead to musculoskeletal problems in humans. To overcome this issue, automated robots such as the upper-limb exoskeleton is used to assist humans while performing tasks. However, several con...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Public Institution Vibromechanika
2020
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| Online Access: | http://psasir.upm.edu.my/id/eprint/86791/1/Modelling%20of%20extended.pdf |
| _version_ | 1825952263938506752 |
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| author | Ali, Siti Khadijah Hussin, Masnida Hadi, M. Sukri Tokhi, M. Osman |
| author_facet | Ali, Siti Khadijah Hussin, Masnida Hadi, M. Sukri Tokhi, M. Osman |
| author_sort | Ali, Siti Khadijah |
| collection | UPM |
| description | Performing heavy physical tasks, overhead work and long working hours are some examples of activities that can lead to musculoskeletal problems in humans. To overcome this issue, automated robots such as the upper-limb exoskeleton is used to assist humans while performing tasks. However, several concerns in developing the exoskeleton have been raised such as the control strategies used. In this study, a control strategy known as the extended de-weight fuzz was proposed to ensure that the exoskeleton could be maneuvered to the desired position with the least number of errors and minimum torque requirement. The extended de-weight fuzzy is a combination of the fuzzy-based PD and fuzzy-based de-weight controller systems. The extended de-weight fuzzy was then compared with the fuzzy-based PD and PID controllers, and the performances of these controllers were compared in terms of their deviations and required torques to perform tasks. The findings show that the proposed control strategy performs better than the fuzzy-based PD and PID controller systems. |
| first_indexed | 2024-03-06T10:42:19Z |
| format | Article |
| id | upm.eprints-86791 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T10:42:19Z |
| publishDate | 2020 |
| publisher | Public Institution Vibromechanika |
| record_format | dspace |
| spelling | upm.eprints-867912021-11-16T08:36:20Z http://psasir.upm.edu.my/id/eprint/86791/ Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton Ali, Siti Khadijah Hussin, Masnida Hadi, M. Sukri Tokhi, M. Osman Performing heavy physical tasks, overhead work and long working hours are some examples of activities that can lead to musculoskeletal problems in humans. To overcome this issue, automated robots such as the upper-limb exoskeleton is used to assist humans while performing tasks. However, several concerns in developing the exoskeleton have been raised such as the control strategies used. In this study, a control strategy known as the extended de-weight fuzz was proposed to ensure that the exoskeleton could be maneuvered to the desired position with the least number of errors and minimum torque requirement. The extended de-weight fuzzy is a combination of the fuzzy-based PD and fuzzy-based de-weight controller systems. The extended de-weight fuzzy was then compared with the fuzzy-based PD and PID controllers, and the performances of these controllers were compared in terms of their deviations and required torques to perform tasks. The findings show that the proposed control strategy performs better than the fuzzy-based PD and PID controller systems. Public Institution Vibromechanika 2020-11-21 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/86791/1/Modelling%20of%20extended.pdf Ali, Siti Khadijah and Hussin, Masnida and Hadi, M. Sukri and Tokhi, M. Osman (2020) Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton. Journal of Vibroengineering, 23 (2). pp. 459-470. ISSN 1392-8716; ESSN:2538-8460 https://www.jvejournals.com/article/21481 10.21595/jve.2020.21481 |
| spellingShingle | Ali, Siti Khadijah Hussin, Masnida Hadi, M. Sukri Tokhi, M. Osman Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton |
| title | Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton |
| title_full | Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton |
| title_fullStr | Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton |
| title_full_unstemmed | Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton |
| title_short | Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton |
| title_sort | modelling of extended de weight fuzzy control for an upper limb exoskeleton |
| url | http://psasir.upm.edu.my/id/eprint/86791/1/Modelling%20of%20extended.pdf |
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