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 proceedingConference contributionpeer-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 languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013
PublisherIEEE
Pages162-167
Number of pages6
ISBN (Electronic)9781479915064, 9781479915088
DOIs
Publication statusPublished - 23 Jan 2014
Externally publishedYes
Event2013 IEEE International Conference on Control System, Computing and Engineering - Penang, Malaysia
Duration: 29 Nov 20131 Dec 2013

Conference

Conference2013 IEEE International Conference on Control System, Computing and Engineering
Abbreviated titleICCSCE 2013
CountryMalaysia
CityPenang
Period29/11/131/12/13

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