The control of an upper limb exoskeleton system for passive stroke rehabilitation: An active force control approach

• Main Authors: Anwar, P. P. Abdul Majeed, Zahari, Taha, M. A., Abdullah, I.M., Khairuddin, M. A., Zakaria
• Format: Conference or Workshop Item
• Language: English
• Published: Centre for Advanced Research on Energy 2018
• Subjects: TS Manufactures
• Online Access: http://umpir.ump.edu.my/id/eprint/21574/1/The%20control%20of%20an%20upper%20limb%20exoskeleton%20system.pdf; http://umpir.ump.edu.my/id/eprint/21574/; http://www3.utem.edu.my/care/proceedings/
• Institution: Universiti Malaysia Pahang

This paper examines the efficacy of a robust class control scheme namely active force control (AFC) on a two degrees of freedom upper limb exoskeleton system in performing typical rehabilitation trajectory on the shoulder and elbow joints. The dynamics of the system was attained via the Lagrangian p...