The Control of an Upper Extremity Exoskeleton for Stroke Rehabilitation by Means of a Hybrid Active Force Control

This paper evaluates the efficacy of a hybrid active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory in the presence of disturbance attributed by the limb weight.

[1]  Mohd Saberi Mohamad,et al.  A Kalman filter approach for solving unimodal optimization problems , 2015 .

[2]  Renuganth Varatharajoo,et al.  Two degree-of-freedom spacecraft attitude controller , 2011 .

[3]  M. Mailah,et al.  Active force with fuzzy logic control of a two-link arm driven by pneumatic artificial muscles , 2011 .

[4]  Mohd Saberi Mohamad,et al.  A New Hybrid Simulated Kalman Filter and Particle Swarm Optimization for Continuous Numerical Optimization Problems , 2015 .

[5]  Musa Mailah,et al.  Intelligent active force control of a robotic arm using genetic algorithm , 2002 .

[6]  Chu Kiong Loo,et al.  Application of Active Force Control and Iterative Learning in a 5-Link Biped Robot , 2003, J. Intell. Robotic Syst..

[7]  Musa Mailah,et al.  Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm , 2012 .

[8]  S. Nazifah,et al.  National Stroke Registry (NSR): Terengganu and Seberang Jaya experience. , 2012, The Medical journal of Malaysia.

[9]  Zahari Taha,et al.  A hybrid active force control of a lower limb exoskeleton for gait rehabilitation , 2018, Biomedizinische Technik. Biomedical engineering.

[10]  Taha Zahari,et al.  The identification and control of an upper extremity exoskeleton for motor recovery , 2017 .

[11]  Roslan Abd. Rahman,et al.  Sprayer Boom Active Suspension Using Intelligent Active Force Control , 2012 .

[12]  Maarouf Saad,et al.  Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements , 2014, Robotica.

[13]  Zahari Taha,et al.  The Control of a Lower Limb Exoskeleton for Gait Rehabilitation , 2017 .

[14]  Robert Riener,et al.  ARMin: a robot for patient-cooperative arm therapy , 2007, Medical & Biological Engineering & Computing.

[15]  J. R Hewit,et al.  Fast dynamic decoupled control for robotics, using active force control , 1981 .

[16]  Musa Mailah,et al.  Roll Movement Control of a Spray Boom Structure Using Active Force Control with Artificial Neural Network Strategy , 2013 .

[17]  Z Ismail,et al.  Satellite cascade attitude control via fuzzy PD controller with active force control under momentum dumping , 2016 .

[18]  Amin Noshadi,et al.  Intelligent active force control of a 3-RRR parallel manipulator incorporating fuzzy resolved acceleration control , 2012 .

[19]  M. Mailah,et al.  Control of resonance phenomenon in flexible structures via active support , 2012 .

[20]  Maarouf Saad,et al.  Nonlinear Sliding Mode Control Implementation of an Upper Limb Exoskeleton Robot to Provide Passive Rehabilitation Therapy , 2012, ICIRA.

[21]  Musa Mailah,et al.  Modelling and control of a human-like arm incorporating muscle models , 2009 .

[22]  Michelle J. Johnson,et al.  Advances in upper limb stroke rehabilitation: a technology push , 2011, Medical & Biological Engineering & Computing.

[23]  Sheng Quan Xie,et al.  Exoskeleton robots for upper-limb rehabilitation: state of the art and future prospects. , 2012, Medical engineering & physics.

[24]  S. M. Hashemi-Dehkordi,et al.  Stability Analysis of a Linear Friction-Induced Vibration Model and Its Prevention Using Active Force Control , 2014 .

[25]  N. Hogan,et al.  Robotics in the rehabilitation treatment of patients with stroke , 2002, Current atherosclerosis reports.

[26]  Xiaoou Li,et al.  Modular design and control of an upper limb exoskeleton , 2016 .