An Intelligent Active Force Control Algorithm to Control an Upper Extremity Exoskeleton for Motor Recovery

• Main Authors: Wan Hasbullah, Mohd Isa, Zahari, Taha, Ismail, Mohd Khairuddin, Anwar, P. P. A. Majeed, Khairul Fikri, Muhammad, Ali, Mohammed A. H., Jamaluddin, Mahmud, Zulkifli, Mohamed
• Format: Conference or Workshop Item
• Language: English
• Published: IOP Publishing 2016
• Subjects: TS Manufactures
• Online Access: http://umpir.ump.edu.my/id/eprint/13972/1/An%20intelligent%20active%20force%20control%20algorithm%20to%20control%20an%20upper%20extremity%20exoskeleton%20for%20motor%20recovery.pdf; http://umpir.ump.edu.my/id/eprint/13972/; http://dx.doi.org/10.1088/1757-899X/114/1/012136
• Institution: Universiti Malaysia Pahang

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...