ANFIS based Jacobian for a parallel manipulator mobility assistive device

Ahmed Asker, Omar Salah, Ahmed M R Fath El-Bab, Ahmed A. Ramadan, Samy M F Assal, Salvatore Sessa, Ahmed Abo-Ismail

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    7 Citations (Scopus)

    Abstract

    Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. Computer simulations show relatively good results of the proposed system.

    Original languageEnglish
    Title of host publication2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages395-400
    Number of pages6
    ISBN (Print)9781479950119
    DOIs
    Publication statusPublished - 2014 Oct 1
    Event10th UKACC International Conference on Control, CONTROL 2014 - Loughborough
    Duration: 2014 Jul 92014 Jul 11

    Other

    Other10th UKACC International Conference on Control, CONTROL 2014
    CityLoughborough
    Period14/7/914/7/11

    ASJC Scopus subject areas

    • Control and Systems Engineering

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  • Cite this

    Asker, A., Salah, O., Fath El-Bab, A. M. R., Ramadan, A. A., Assal, S. M. F., Sessa, S., & Abo-Ismail, A. (2014). ANFIS based Jacobian for a parallel manipulator mobility assistive device. In 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings (pp. 395-400). [6915173] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CONTROL.2014.6915173