Modelling and Control of a Leg Rehabilitation System for a Reconfigurable Wheelchair

S. O. Fadlallah; K. M. Goher

doi:10.1109/ICCSCE.2013.6719952

Modelling and Control of a Leg Rehabilitation System for a Reconfigurable Wheelchair

S. O. Fadlallah, K. M. Goher

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper presents a proposed design of a leg rehabilitation system. The system will be implemented on a reconfigurable wheelchair prototype in order to provide additional two rotational degrees of freedom (DOF) for serving more rehabilitation purposes. Lagrangian dynamic formulation is used to derive the system dynamics. Joints frictions based on Coulomb friction model are considered in the leg rehabilitation system. The system equations of motion are linearized since the model is dealt with in state space representation. LQR control approach is considered and derived for stabilization of the system. Simulation Results validating the model and the control approach are presented and discussed.

Original language	English
Title of host publication	Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013
Publisher	IEEE
Pages	162-167
Number of pages	6
ISBN (Electronic)	9781479915064, 9781479915088
DOIs	https://doi.org/10.1109/ICCSCE.2013.6719952
Publication status	Published - 23 Jan 2014
Externally published	Yes
Event	2013 IEEE International Conference on Control System, Computing and Engineering - Penang, Malaysia Duration: 29 Nov 2013 → 1 Dec 2013

Conference

Conference	2013 IEEE International Conference on Control System, Computing and Engineering
Abbreviated title	ICCSCE 2013
Country/Territory	Malaysia
City	Penang
Period	29/11/13 → 1/12/13

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10.1109/ICCSCE.2013.6719952Licence: Unspecified

Cite this

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title = "Modelling and Control of a Leg Rehabilitation System for a Reconfigurable Wheelchair",

abstract = "This paper presents a proposed design of a leg rehabilitation system. The system will be implemented on a reconfigurable wheelchair prototype in order to provide additional two rotational degrees of freedom (DOF) for serving more rehabilitation purposes. Lagrangian dynamic formulation is used to derive the system dynamics. Joints frictions based on Coulomb friction model are considered in the leg rehabilitation system. The system equations of motion are linearized since the model is dealt with in state space representation. LQR control approach is considered and derived for stabilization of the system. Simulation Results validating the model and the control approach are presented and discussed.",

keywords = "lagrangian formulation, leg rehabilitation, modelling, simulation",

author = "Fadlallah, {S. O.} and Goher, {K. M.}",

note = "Copyright: Copyright 2014 Elsevier B.V., All rights reserved.; 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013 ; Conference date: 29-11-2013 Through 01-12-2013",

year = "2014",

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doi = "10.1109/ICCSCE.2013.6719952",

language = "English",

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booktitle = "Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013",

publisher = "IEEE",

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}

Fadlallah, SO & Goher, KM 2014, Modelling and Control of a Leg Rehabilitation System for a Reconfigurable Wheelchair. in Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013., 6719952, IEEE, pp. 162-167, 2013 IEEE International Conference on Control System, Computing and Engineering, Penang, Malaysia, 29/11/13. https://doi.org/10.1109/ICCSCE.2013.6719952

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AU - Fadlallah, S. O.

AU - Goher, K. M.

PY - 2014/1/23

Y1 - 2014/1/23

N2 - This paper presents a proposed design of a leg rehabilitation system. The system will be implemented on a reconfigurable wheelchair prototype in order to provide additional two rotational degrees of freedom (DOF) for serving more rehabilitation purposes. Lagrangian dynamic formulation is used to derive the system dynamics. Joints frictions based on Coulomb friction model are considered in the leg rehabilitation system. The system equations of motion are linearized since the model is dealt with in state space representation. LQR control approach is considered and derived for stabilization of the system. Simulation Results validating the model and the control approach are presented and discussed.

AB - This paper presents a proposed design of a leg rehabilitation system. The system will be implemented on a reconfigurable wheelchair prototype in order to provide additional two rotational degrees of freedom (DOF) for serving more rehabilitation purposes. Lagrangian dynamic formulation is used to derive the system dynamics. Joints frictions based on Coulomb friction model are considered in the leg rehabilitation system. The system equations of motion are linearized since the model is dealt with in state space representation. LQR control approach is considered and derived for stabilization of the system. Simulation Results validating the model and the control approach are presented and discussed.

KW - lagrangian formulation

KW - leg rehabilitation

KW - modelling

KW - simulation

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BT - Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013

PB - IEEE

T2 - 2013 IEEE International Conference on Control System, Computing and Engineering

Y2 - 29 November 2013 through 1 December 2013

ER -

Modelling and Control of a Leg Rehabilitation System for a Reconfigurable Wheelchair

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