An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

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This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well...

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Bibliographic Details
Main Authors: Azhari M.A.M (Author), Hamedon Z. (Author), Hashem, M.A (Author), Isa, W.H.M (Author), Khairuddin, I.M (Author), Mahmud, J. (Author), Majeed, A.P.P.A (Author), Mohamed, Z. (Author), Muhammad, K.F (Author), Rao A.K.P (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
Algorithms
Degrees of freedom (mechanics)
Desired trajectories
Exoskeleton (Robotics)
Force control
Hybrid systems
Inertial properties
Manufacture
Modelling and controls
Newton Euler formulation
Proportional derivatives
Two-degree of freedom
Upper extremity
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