{"title":"Control Design of a De-Weighting Upper Limb Exoskeleton","authors":"Siti Khadijah Ali, M. Tokhi","doi":"10.1109/INCAE.2018.8579374","DOIUrl":null,"url":null,"abstract":"One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the objective of this paper is to investigate development of a control strategy for the upper-limb exoskeleton. In this paper, a new control mechanism for an upper-limb exoskeleton is proposed. A fuzzy-based PD controller and PID are used in the proposed control mechanism, and a comparative assessment of the performance of both controllers is made. The results show that the control mechanism with fuzzy-based PD controller performs better than the PID controller in terms of trajectory tracking accuracy and control torque analysis.","PeriodicalId":387859,"journal":{"name":"2018 International Conference on Applied Engineering (ICAE)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Conference on Applied Engineering (ICAE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INCAE.2018.8579374","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the objective of this paper is to investigate development of a control strategy for the upper-limb exoskeleton. In this paper, a new control mechanism for an upper-limb exoskeleton is proposed. A fuzzy-based PD controller and PID are used in the proposed control mechanism, and a comparative assessment of the performance of both controllers is made. The results show that the control mechanism with fuzzy-based PD controller performs better than the PID controller in terms of trajectory tracking accuracy and control torque analysis.