Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation

  title={Modelling and Control of an Upper Extremity Exoskeleton for Rehabilitation},
  author={Zahari Taha and Anwar P. P. Abdul Majeed and Mohd Yashim Wong Paul Tze and Mohammed Abdo Hashem and Ismail B. Mohd Khairuddin and Mohd Azraai Mohd Razman},
This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton for rehabilitation. The Lagrangian formulation was employed to obtain the dynamic modelling of both the anthropometric based human upper limb as well as the exoskeleton that comprises of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed to investigate its efficacy performing a joint task trajectory tracking in performing flexion/extension on the elbow joint… CONTINUE READING