A hybrid joint based controller for an upper extremity exoskeleton

This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is b...

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Bibliographic Details
Main Authors:	Azhari M.A.M (Author), Deboucha, A.H (Author), Hamedon Z. (Author), Jaafar, A.A (Author), Khairuddin, I.M (Author), Majeed, A.P.P.A (Author), Mohamed, Z. (Author), Rao A.K.P (Author), Razman, M.A.M (Author), Taha, Z. (Author), Turan F.M (Author), Yusoff A.R (Author), Zahid M.N.O (Author)
Format:	Article
Language:	English
Published:	Institute of Physics Publishing 2016
Subjects:	Active force control Computed torque control Control architecture Degrees of freedom (mechanics) Exoskeleton (Robotics) Hybrid systems Joints (anatomy) Manufacture Modelling and controls Proportional derivatives Temperature control Trajectory tracking Two-degree of freedom Upper extremity
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A hybrid joint based controller for an upper extremity exoskeleton

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