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Robotic exoskeleton control for lower limb rehabilitation of knee joint

Ahmed, Syed Faiz and Joyo, Muhammad Kamran and Ali, Athar and Mohd Ali, Abdul Malik and Abdul Kadir, Kushsairy and Naqvi, Yarooq R. and Abu Bakar, Badri and Shah, Asadullah (2018) Robotic exoskeleton control for lower limb rehabilitation of knee joint. International Journal of Engineering & Technology (UAE), 7 (2.34 (Special issue 34)). pp. 56-59. ISSN 2227-524X

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Abstract

Wearable devices such as exoskeletons are being opted frequently during rehabilitation processes for the post stroke recovery. Such de-vices are playing important role in the development of assistive rehabilitation robotic systems. In this paper three control strategies MPC and LQR and PID are introduced which were applied to knee joint of lower limb exoskeleton model for passive exercise. The two con-trols MPC and LQR are model based control which empowers them for stable responses. In this paper the analysis of robustness of con-trol is done under the noisy and disturbance conditions. The results showed good performance of the exoskeleton model with the applied controls in the provided condition. In the future work the applied controls will be implemented on hardware.

Item Type: Article (Journal)
Additional Information: 6566/64343
Uncontrolled Keywords: Robotic exoskeleton control, lower limb rehabilitation, knee joint
Subjects: T Technology > T Technology (General) > T10.5 Communication of technical information
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Information and Communication Technology > Department of Information System
Kulliyyah of Information and Communication Technology > Department of Information System
Depositing User: Asadullah Shah Syed
Date Deposited: 02 Jul 2018 13:47
Last Modified: 02 Jul 2018 13:47
URI: http://irep.iium.edu.my/id/eprint/64343

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