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Erschienen in:
2017 | OriginalPaper | Buchkapitel
The Control of an Upper-Limb Exoskeleton by Means of a Particle Swarm Optimized Active Force Control for Motor Recovery
verfasst von : A. P. P. Abdul Majeed, Z. Taha, I. Mohd Khairuddin, M. Y. Wong, M. A. Abdullah, M. A. Mohd Razman
Erschienen in: 3rd International Conference on Movement, Health and Exercise
Verlag: Springer Singapore
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The modelling and control of a two degree of freedom upper extremity exoskeleton for motor recovery is presented in this paper. The dynamic modelling of the upper arm and the forearm for both the anthropometric based human upper limb as well as the exoskeleton was attained via the Euler-Lagrange formulation. A proportional-derivative (PD) architecture is employed to assess its effectiveness in performing joint-space control objectives namely the forward adduction/abduction on the shoulder joint and the flexion/extension of the elbow joint. An intelligent active force control (AFC) optimised by means of the Particle Swarm Optimisation (PSO) algorithm is also integrated into the aforesaid controller to examine its efficacy in compensating disturbances. It was established from the simulation study that the PD- PSOAFC performed notably well in catering the disturbances introduced to the system whilst maintaining its excellent tracking performance as compared to its pure classical PD counterpart.