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

doi:10.1109/CONTROL.2014.6915173

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

^*Corresponding author for this work

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

14 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 language	English
Title of host publication	2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	395-400
Number of pages	6
ISBN (Print)	9781479950119
DOIs	https://doi.org/10.1109/CONTROL.2014.6915173
Publication status	Published - 2014 Oct 1
Event	10th UKACC International Conference on Control, CONTROL 2014 - Loughborough Duration: 2014 Jul 9 → 2014 Jul 11

Other

Other	10th UKACC International Conference on Control, CONTROL 2014
City	Loughborough
Period	14/7/9 → 14/7/11

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/CONTROL.2014.6915173

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). Article 6915173 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CONTROL.2014.6915173

ANFIS based Jacobian for a parallel manipulator mobility assistive device. / Asker, Ahmed; Salah, Omar; Fath El-Bab, Ahmed M R et al.
2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. p. 395-400 6915173.

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

Asker, A, Salah, O, Fath El-Bab, AMR, Ramadan, AA, Assal, SMF, 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., 6915173, Institute of Electrical and Electronics Engineers Inc., pp. 395-400, 10th UKACC International Conference on Control, CONTROL 2014, Loughborough, 14/7/9. https://doi.org/10.1109/CONTROL.2014.6915173

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AU - Sessa, Salvatore

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ANFIS based Jacobian for a parallel manipulator mobility assistive device

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