A Hybrid Joint Based Controller for an Upper Extremity Exoskeleton

• Main Authors: Ismail, Mohd Khairuddin, Zahari, Taha, Anwar, P. P. Abdul Majeed, Abdel Hakeem, Deboucha, Mohd Azraai, M. Razman, Abdul Aziz, Jaafar, Zulkifli, Mohamed
• Format: Article
• Language: English
• Published: IOP Publishing 2016
• Subjects: TS Manufactures
• Online Access: http://umpir.ump.edu.my/id/eprint/12511/1/A%20hybrid%20joint%20based%20controller%20for%20an%20upper%20extremity%20exoskeleton.pdf; http://umpir.ump.edu.my/id/eprint/12511/; http://iopscience.iop.org/article/10.1088/1757-899X/114/1/012133/meta
• Institution: Universiti Malaysia Pahang

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...