Control design of a de-weighting upper limb exoskeleton

Conference paper

Ali, SK and Tokhi, MO (2018). Control design of a de-weighting upper limb exoskeleton. International Conference on Applied Engineering. Batam, Indonesia 03 - 04 Oct 2018
AuthorsAli, SK and Tokhi, MO
TypeConference paper
Abstract

One of the most common problems in humans is a
muscle fatigue. Exoskeletons are known as one of the solution
to deal with human muscle fatigue. However, several issues
related to the development of exoskeletons for such a case
have been identified. One of these is the control mechanism.
Thus, the objective of this paper is to investigate development
of a control strategy for the upper-limb exoskeleton. In this
paper, a new control mechanism for an upper-limb exoskeleton
is proposed. A fuzzy-based PD controller and PID are used in
the proposed control mechanism, and a comparative assessment
of the performance of both controllers is made. The results
show that the control mechanism with fuzzy-based PD controller
performs better than the PID controller in terms of trajectory
tracking accuracy and control torque analysis

KeywordsExoskeleton; Kinematics and dynamics; Euler- Lagrange approach; Fuzzy-based control
Year2018
Accepted author manuscript
License
File Access Level
Open
Publication dates
Print20 Dec 2018
Publication process dates
Deposited15 Jan 2019
Accepted15 Aug 2018
Permalink -

https://openresearch.lsbu.ac.uk/item/86834

Download files

Accepted author manuscript
Siti Ali_ICAE 2018.pdf
License: CC BY 4.0
File access level: Open

  • 112
    total views
  • 263
    total downloads
  • 2
    views this month
  • 2
    downloads this month

Export as

Related outputs

Smart optimized structural control of onshore wind turbines with MR dampers
Fakhry, P., Duan, F., Tokhi, M. and Salem, S. (2024). Smart optimized structural control of onshore wind turbines with MR dampers. Engineering Structures. 299, p. 117131. https://doi.org/10.1016/j.engstruct.2023.117131
Prioritization of noise abatement methods for controlling hospital noise pollution
Abbasi, M., Tokhi, M.O., Eyvazzadeh, N., Falahati, M. and Zokaei, M. (2024). Prioritization of noise abatement methods for controlling hospital noise pollution. Journal of Low Frequency Noise Vibration and Active Control. https://doi.org/10.1177/14613484241245002
Opposition-based manta ray foraging algorithm for global optimization and its application to optimize nonlinear type-2 fuzzy logic control
Abdul Razak, A., Nasir, A., Kasruddin Nasir, A. and Tokhi, M. (2024). Opposition-based manta ray foraging algorithm for global optimization and its application to optimize nonlinear type-2 fuzzy logic control. Journal of Low Frequency Noise Vibration and Active Control. pp. 1-24. https://doi.org/10.1177/14613484241242737
Intelligent proportional-integral-derivate controller using metaheuristic approach via crow search algorithm for vibration suppression of flexible plate structure
Syafiqah Shaari, A., Hadi, M., Abdul Wahab, A. M., Ab.Talib, M., Yatim, H.M., Mat Darus, I.Z. and Tokhi, M.O. (2023). Intelligent proportional-integral-derivate controller using metaheuristic approach via crow search algorithm for vibration suppression of flexible plate structure. Journal of Low Frequency Noise Vibration and Active Control. 43 (1), pp. 560-574. https://doi.org/10.1177/14613484231203946
Deploying Patch-based Segmentation Pipeline for Fibroblast Cell Images at Varying Magnifications
Malik, H., Idris, A.S., Toha, S.F., Idris, I.M., Daud, M.F. and Tokhi, M.O. (2023). Deploying Patch-based Segmentation Pipeline for Fibroblast Cell Images at Varying Magnifications. IEEE Access. 11, pp. 98171 - 98181. https://doi.org/10.1109/access.2023.3312232
Robust structural control of onshore wind turbines using MR dampers
Fakhry, Peter, Salem, Shady, O.Tokhi, Mohammad and Fang, Duan (2023). Robust structural control of onshore wind turbines using MR dampers. Prognostics and Health Management Conference (PHM) 2023. Paris, France 31 May - 02 Jun 2023 IEEE. https://doi.org/10.1109/phm58589.2023.00062
An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system
Mohd Tumari, M., Ahmad, M.A., Suid, M.H., Ghazali, M. and Tokhi, M.O. (2023). An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system. Journal of Low Frequency Noise Vibration and Active Control. 42 (4), pp. 1666-1698. https://doi.org/10.1177/14613484231183938
A Solution Architecture for Energy Monitoring and Visualisation in Smart Factories with Robotic Automation
Webb, L., Tokhi, M. and Alkan, B. (2023). A Solution Architecture for Energy Monitoring and Visualisation in Smart Factories with Robotic Automation. 26th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines CLAWAR 2023. Florianópolis, Brazil 02 - 04 Oct 2023 CLAWAR Association.
Positional Health Assessment of Collaborative Robots based on Long Short-Term Memory Auto-Encoder (LSTMAE) Network
Hasan, M., Webb, L., Hossain, M., Tokhi, M. and Alkan, B. (2023). Positional Health Assessment of Collaborative Robots based on Long Short-Term Memory Auto-Encoder (LSTMAE) Network. 26th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines CLAWAR 2023. Florianópolis, Brazil 02 - 04 Oct 2023 CLAWAR Association.
Design and Characterization of a Low-Cost and Efficient Torsional Spring for ES-RSEA
Sabah Al-Dahiree. O., Ghazilla, R.A.R., Tokhi, M.O., Yap, H.J. and Gul, M. (2023). Design and Characterization of a Low-Cost and Efficient Torsional Spring for ES-RSEA. Sensors. 23 (7), p. 3705. https://doi.org/10.3390/s23073705
Reliability Improvement of Magnetic Corrosion Monitor for Long-Term Applications
Wasif, R., Tokhi, M.O., Rudlin, J., Shirkoohi, G. and Duan, F. (2023). Reliability Improvement of Magnetic Corrosion Monitor for Long-Term Applications. Sensors. 23 (4), p. 2212. https://doi.org/10.3390/s23042212
Neural Network-Based Li-Ion Battery Aging Model at Accelerated C-Rate
Hoque, A., Hassan, M., Hajjo, A. and Tokhi, M. (2023). Neural Network-Based Li-Ion Battery Aging Model at Accelerated C-Rate. Batteries. 9 (2). https://doi.org/10.3390/batteries9020093
Modeling and Dynamic performance of Energy Storage -Rotary Series Elastic Actuator for Lumbar Support Exoskeleton
Al-Dahiree, O., Ghazilla, R. A. R., Yap, H. J., Tokhi, M. and Yoong, G. W. (2022). Modeling and Dynamic performance of Energy Storage -Rotary Series Elastic Actuator for Lumbar Support Exoskeleton. 10th IEEE Conference on Systems, Process & Control (ICSPC2022). Malacca, Malaysia 17 - 17 Dec 2022 Institute of Electrical and Electronics Engineers (IEEE).
Design and Shape Optimization of Strain Gauge Load Cell for Axial Force Measurement for Test Benches
Al-Dahiree, O., Tokhi, M., Hassan Hadi, N., Rasheid Hmoad, N., Ariffin Raja Ghazilla, R., Yap, H. and Abdullah Albaadani, E. (2022). Design and Shape Optimization of Strain Gauge Load Cell for Axial Force Measurement for Test Benches. Sensors. 22 (19), p. 7508. https://doi.org/10.3390/s22197508
Design of a Compact Energy Storage with Rotary Series Elastic Actuator for Lumbar Support Exoskeleton
Sabah Al-Dahiree, O., Ariffin Raja Ghazilla, R., Tokhi, M.O., Jen Yap, H. and Abdullah Albaadani, E. (2022). Design of a Compact Energy Storage with Rotary Series Elastic Actuator for Lumbar Support Exoskeleton. Machines. 10 (7), p. 584. https://doi.org/10.3390/machines10070584
Development of Permanently Installed Magnetic Eddy Current Sensor for Corrosion Monitoring of Ferromagnetic Pipelines
Wasif, R., Tokhi, M., Shirkoohi, G., Marks, Ryan and Rudlin, John (2022). Development of Permanently Installed Magnetic Eddy Current Sensor for Corrosion Monitoring of Ferromagnetic Pipelines. Applied Sciences. 12 (3), p. e1037. https://doi.org/10.3390/app12031037
Analysis of Mechanical Adhesion Climbing Robot Design for Wind Tower Inspection
Mondal, S.M., Marquez, P. L. C. and Tokhi, M. (2021). Analysis of Mechanical Adhesion Climbing Robot Design for Wind Tower Inspection. Journal of Artificial Intelligence and Technology. 1 (4), pp. 219-227. https://doi.org/10.37965/jait.2021.0013
Dynamic Wind Turbine Blade Inspection Using Micro-Polarisation Spatial Phase Shift Digital Shearography
Li, Z., Tokhi, M.O., Marks, R, Zheng, H. and Zhao, Z. (2021). Dynamic Wind Turbine Blade Inspection Using Micro-Polarisation Spatial Phase Shift Digital Shearography. Applied Sciences. 11. https://doi.org/10.3390/app112210700
Hybrid spiral-bacterial foraging algorithm for a fuzzy control design of a flexible manipulator
Kasruddin Nasir, A., Ahmad, M. A. and Tokhi, M.O. (2021). Hybrid spiral-bacterial foraging algorithm for a fuzzy control design of a flexible manipulator. Journal of Low Frequency Noise Vibration and Active Control. https://doi.org/10.1177/14613484211035646
Decoupling the influence of wall thinning and cladding thickness variation pulsed eddy current using principal component analysis
Nafiah, F., Tokhi, M.O., Shirkoohi, M., Duan, F., Zhao, Z. and Rees-Lloyd, O. (2021). Decoupling the influence of wall thinning and cladding thickness variation pulsed eddy current using principal component analysis. IEEE Sensors Journal. https://doi.org/10.1109/JSEN.2021.3100648
A compact laser shearography system for on-site robotic inspection of wind turbine blades
Li, Z., Tokhi, M.O., Zhao, Z. and Zheng, H. (2021). A compact laser shearography system for on-site robotic inspection of wind turbine blades. Journal of Artificial Intelligence and Technology. https://doi.org/10.37965/jait.2021.0008
Development of a robot for in-service radiography inspection of subsea flexible risers
Kaur, A., Sattar, T., Richard A. and Tokhi, M. (2021). Development of a robot for in-service radiography inspection of subsea flexible risers. Journal of Artificial Intelligence and Technology. 1 (3). https://doi.org/10.37965/jait.2021.0015
Development of an MFL Coil Sensor for Testing Pipes in Extreme Temperature Conditions
Sathappan, N., Tokhi, M., Penaluna, L., Zhao, Z., Duan, F., Shirkoohi, G. and Aman K. (2021). Development of an MFL Coil Sensor for Testing Pipes in Extreme Temperature Conditions. Sensors. 21 (9). https://doi.org/https://doi.org/10.3390/s21093033
Protective effects of vitamins/antioxidants on occupational noise induced hearing loss: A systematic review
Abbasi, M., Tokhi, M. O. and Pourrajab, B. (2021). Protective effects of vitamins/antioxidants on occupational noise induced hearing loss: A systematic review. Journal of Occupational Health. 63 (1), p. e12217. https://doi.org/10.1002/1348-9585.12217
Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic
Fadzlina Jamin, N., Abdul Ghani, Nor Maniha, Ibrahim, Zuwairie, Kasruddin Nasir, Ahmad Nor, Rashid, Mamunur and Osman Tokhi, Mohammad (2020). Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic. Journal of Low Frequency Noise Vibration and Active Control. 40 (3), pp. 1585-1606. https://doi.org/10.1177/1461348420979480
Vibration suppression of the horizontal flexible plate using proportional– integral–derivative controller tuned by particle swarm optimization
Hadi, M., Darus, Intan ZM, Ab.Talib, M., Yatim, Hanim M and Tokhi, M Osman (2021). Vibration suppression of the horizontal flexible plate using proportional– integral–derivative controller tuned by particle swarm optimization. Journal of Low Frequency Noise Vibration and Active Control. 40 (3), pp. 1540-1557. https://doi.org/10.1177/1461348420934636
Properties of GMR based sensor for Magnetic field measurement at increasing Temperature Conditions
Sathappan, N., Tokhi, M., Duan, F., Zhao, Z., Kaur, A. and Shirkoohi, M. (2020). Properties of GMR based sensor for Magnetic field measurement at increasing Temperature Conditions. NDE 2020 India-Virtual Conference & Exhibition on Non-Destructive Evaluation. India 10 - 12 Dec 2020
Study of K-Nearest Neighbour classification performance on fatigue and non-fatigue EMG signal features
Bukhari, WM, Yun, CJ, Kassim, AM and Tokhi, MO (2020). Study of K-Nearest Neighbour classification performance on fatigue and non-fatigue EMG signal features. International Journal of Advanced Computer Science and Applications. 11 (8), pp. 41-47. https://doi.org/10.14569/IJACSA.2020.0110806
Parameter analysis of pulsed eddy current sensor using principal component analysis
Nafiah, F, Tokhi, MO, Shirkoohi, G, Duan, F, Zhao, Z, Asfis, G and Rudlin, J (2020). Parameter analysis of pulsed eddy current sensor using principal component analysis. IEEE Sensors Journal. https://doi.org/10.1109/JSEN.2020.3036967
Robots in human life
Tokhi, M. Gradetsky, V. G., Tokhi, M., Bolotnik, N., Silva, M. and Virk, G. S. (ed.) (2020). Robots in human life. CLAWAR Association.
Intelligent PID Controller of Flexible Link Manipulator with Payload
Jamali, A, Mat Darus, IZ and Tokhi, MO (2020). Intelligent PID Controller of Flexible Link Manipulator with Payload. 2020 3rd International Conference on Mechanical, Electronics, Computer, and Industrial Technology (MECnIT). 25 - 27 Jun 2020 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/mecnit48290.2020.9166609
Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton
Ali, S.K., Hussin, M., Hadi, M.S. and Tokhi, M.O. (2020). Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton. Journal of Vibroengineering. https://doi.org/10.21595/jve.2020.21481
A compact laser shearography system integrated with robotic climber for on-site inspection of wind turbine blades
Li, Z, Tokhi, MO, Zhao, Z, Gao, J and Zheng, H (2020). A compact laser shearography system integrated with robotic climber for on-site inspection of wind turbine blades. CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Moscow, Russian Federation 24 - 26 Aug 2020 CLAWAR Association.
Automated inspection of subsea structure: A case study
Kaur, A, Anvo, R and Tokhi, MO (2020). Automated inspection of subsea structure: A case study. CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Moscow, Russian Federation 24 - 26 Aug 2020 CLAWAR Association.
Effect of personality traits on sensitivity, annoyance and loudness perception of low and high frequency noise
Abbasi, M, Tokhi, MO, Falahati, M, Yazdanirad, S, Ghaljahi, M, Etemadinezhad, S and Jaffari Talaar poshti, R (2020). Effect of personality traits on sensitivity, annoyance and loudness perception of low and high frequency noise. Journal of Low Frequency Noise Vibration and Active Control. https://doi.org/10.1177/1461348420945818
Pulsed Eddy Current: Feature Extraction Enabling In-situ Calibration and Improved Estimation for Ferromagnetic Application
Nafiah, F., Tokhi, MO, Majidnia, S, Rudlin, J, Zhao, Z and Duan, F (2020). Pulsed Eddy Current: Feature Extraction Enabling In-situ Calibration and Improved Estimation for Ferromagnetic Application. Journal of Nondestructive Evaluation. 39 (52). https://doi.org/10.1007/s10921-020-00699-w
Design, Implementation, and Evaluation of a Fingerprint-Based Ignition Key for Motorcycles
Supriyono, H., Wijayanto, A. A., Jailani, R. and Tokhi, MO (2020). Design, Implementation, and Evaluation of a Fingerprint-Based Ignition Key for Motorcycles. Automotive Experiences. 3 (2), pp. 68-80. https://doi.org/10.31603/ae.v3i2.3586
Design and parametric investigations of permanent magnet adhesion mechanism for robots climbing on reinforced concrete walls
Tokhi, MO and Sattar, TP (2020). Design and parametric investigations of permanent magnet adhesion mechanism for robots climbing on reinforced concrete walls. CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines,. Moscow 24 - 26 Aug 2020
Investigations on the effect of wall thickness on magnetic adhesion for wall climbing robots
Jose, J, Dinakaran, D, Ramya, MM, Kuppan Chetty, RM, Tokhi, MO and Sattar, TP (2020). Investigations on the effect of wall thickness on magnetic adhesion for wall climbing robots. International Journal of Robotics and Automation. 36 (4). https://doi.org/10.2316/J.2021.206-0441
Physical configuration-based feedforward active noise control using adaptive second-order truncated Volterra filter
Peng, T., Zhu, Quanmin, Tokhi, MO and Yao, Yufeng (2020). Physical configuration-based feedforward active noise control using adaptive second-order truncated Volterra filter. Journal of Low Frequency Noise Vibration and Active Control. 40 (1), pp. 509-523. https://doi.org/10.1177/1461348419897644
Particle swarm optimization and spiral dynamic algorithm-based interval type-2 fuzzy logic control of triple-link inverted pendulum system: A comparative assessment
Masrom, M., A Ghani, NM and Tokhi, MO (2019). Particle swarm optimization and spiral dynamic algorithm-based interval type-2 fuzzy logic control of triple-link inverted pendulum system: A comparative assessment. Journal of Low Frequency Noise Vibration and Active Control. 40 (1), pp. 367-382. https://doi.org/10.1177/1461348419873780
An improved neuroendocrine–proportional–integral–derivative controller with sigmoid-based secretion rate for nonlinear multi-input–multi-output crane systems
Ghazali, M., Ahmad, M.A., Raja Ismail, R.M.T. and Tokhi, M.O. (2019). An improved neuroendocrine–proportional–integral–derivative controller with sigmoid-based secretion rate for nonlinear multi-input–multi-output crane systems. Journal of Low Frequency Noise Vibration and Active Control. 39 (4), pp. 1172-1186. https://doi.org/10.1177/1461348419867524
3D FEM of a pipeline with defect using MFL testing under extreme conditions
Sathappan, N., Tokhi, M., Zhang, F., Duan, F., Shirkoohi, M. and Shiva Majidnia (2019). 3D FEM of a pipeline with defect using MFL testing under extreme conditions. NSIRC Annual Conference 2019. Cambridge 02 - 03 Jul 2019
Development of high temperature and underwater sensor for permanent magnet corrosion monitoring system
Sathappan, N, Tokhi, M, Zhao, Z, Duan, F, Shirkoohi, M and Kaur, A (2019). Development of high temperature and underwater sensor for permanent magnet corrosion monitoring system. Lloyd's Register Foundation International Conference 2019. 8 Northemburland Avenue,London 09 - 10 Oct 2019
Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV
Firdaus, A.R. and Tokhi, M. O. (2019). Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV. 2019 2nd International Conference on Applied Engineering (ICAE). https://doi.org/10.1109/icae47758.2019.9221653
A study on PD-like fuzzy logic control based active noise control for narrowband noise cancellation with acoustic feedback and distance ratio
Peng, T, Zhu, Q, Tokhi, MO and Yao, Y (2019). A study on PD-like fuzzy logic control based active noise control for narrowband noise cancellation with acoustic feedback and distance ratio. 11th International Conference on Modelling, Identification and Control (ICMIC2019). Tianjin, China 13 - 15 Jul 2019
Preface - Robotics and Well-Being
Ferreira, MIA, Sequeira, JS, Virk, GS, Tokhi, MO and Kadar, EE (2019). Preface - Robotics and Well-Being. in: Robotics and Well-Being Springer.
Dual level searching approach for solving multi-objective optimisation problems using hybrid particle swarm optimisation and bats echolocation-inspired algorithms
Yahya, NM, Yusoff, AR, Senawi, A and Tokhi, MO (2019). Dual level searching approach for solving multi-objective optimisation problems using hybrid particle swarm optimisation and bats echolocation-inspired algorithms. Mekatronika – Journal of Intelligent Manufacturing & Mechatronics. 1 (1), pp. 45-56. https://doi.org/10.15282/mekatronika.v1i1.155
Spread enhancement for firefly algorithm with application to control mechanism of exoskeleton system
Kasdirin, HA, Ali, SK and Tokhi, MO (2019). Spread enhancement for firefly algorithm with application to control mechanism of exoskeleton system. Mekatronika – Journal of Intelligent Manufacturing & Mechatronics. 1 (1), pp. 27-34. https://doi.org/10.15282/mekatronika.v1i1.163
Design of set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers for quadcopter UAVs
Firdaus, AR and Tokhi, M. (2019). Design of set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers for quadcopter UAVs. International Journal of Modelling, Identification and Control. 32 (2), pp. 114-134. https://doi.org/10.1504/IJMIC.2019.102373
Control design of a de-weighting upper-limb exoskeleton: Extended-based fuzzy
Ali, SK and Tokhi, MO (2019). Control design of a de-weighting upper-limb exoskeleton: Extended-based fuzzy. Indonesian Journal of Electrical Engineering and Informatics. 7 (1), pp. 1-14. https://doi.org/10.11591/ijeei.v7i1.938
Simulated tests of feedforward active noise control (ANC) for building noise cancellation
Peng, T, Zhu, Q, Tokhi, MO and Yao, Y (2019). Simulated tests of feedforward active noise control (ANC) for building noise cancellation. International Conference on Smart City and Intelligent Building. Hefei, Anhui, China 15 - 16 Sep 2018
Fuzzy logic feedforward active noise control with distance ratio and acoustic feedback using Takagi–Sugeon–Kang inference
Peng, T, Zhu, Q, Tokhi, MO and Yao, Y (2019). Fuzzy logic feedforward active noise control with distance ratio and acoustic feedback using Takagi–Sugeon–Kang inference. Journal of Low Frequency Noise Vibration and Active Control. https://doi.org/10.1177/1461348419840961
Active vibration control of a horizontal flexible plate structure using intelligent proportional–integral–derivative controller tuned by fuzzy logic and artificial bee colony algorithm
Hadi, MS, Darus, IZM, Tokhi, MO and Jamid, MF (2019). Active vibration control of a horizontal flexible plate structure using intelligent proportional–integral–derivative controller tuned by fuzzy logic and artificial bee colony algorithm. Journal of Low Frequency Noise Vibration and Active Control. https://doi.org/10.1177/1461348419852454
A World with Robots
Aldinhas Ferreira, MI, Sequeira, JS, Tokhi, MO, Kadar, EE and Virk, GS (2017). A World with Robots. in: A world with robotics: International conference on robot ethics ICRE 2015 Springer.
Stiffness control of bionic joint for a musculoskeletal leg mechanism
Lei, J, Tokhi, MO and Zhu, J (2016). Stiffness control of bionic joint for a musculoskeletal leg mechanism. in: Tokhi, MO and Virk, GS (ed.) Advances in Cooperative Robotics Proceedings of the 19th International Conference on CLAWAR 2016 Singapore World Scientific Publishing. pp. 481-489
Hybrid worlds: Societal and Ethical Challenges
Bringsjord, S, Tokhi, MO, Ferreira, MIA and Govindarajulu, NS Tokhi, MO (ed.) (2018). Hybrid worlds: Societal and Ethical Challenges. UK CLAWAR Association.
Robotics Transforming the Future
Montes, H, Tokhi, MO, Virk, GS, Armada, M, Rodríguez, H, Fernández, R, González de Santos, P, Sánchez, V and Silva, M Tokhi, MO (ed.) (2018). Robotics Transforming the Future. UK CLAWAR Association.
Optimal Tuning of PD controllers using Modified Artificial Bee Colony Algorithm
Tokhi, MO, Hashim, MR and Kasdirin, H (2018). Optimal Tuning of PD controllers using Modified Artificial Bee Colony Algorithm. Journal of Telecommunication, Electronic and Computer Engineering. 10 (2-8), pp. 67-70.
Intelligent modeling of double link flexible robotic manipulator using artificial neural network
Jamali, A, Mat Darus, IZ, Mohd Samin, PP and Tokhi, MO (2018). Intelligent modeling of double link flexible robotic manipulator using artificial neural network. Journal of Vibroengineering. 20 (2), pp. 1021-1034. https://doi.org/10.21595/jve.2017.18575
Effect of two adjacent muscles of flexor and extensor on finger pinch and hand grip force
Wan Daud, WMB, Abas, N and Tokhi, MO (2018). Effect of two adjacent muscles of flexor and extensor on finger pinch and hand grip force. 5th International Conference on Control, Decision and Information Technologies. Thessaloniki, Greece 10 - 13 Apr 2018 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/CoDIT.2018.8394775
Electromyography assessment of forearm muscles: Towards the control of exoskeleton hand
Abas, N, Bukhari, WM, Abas, MA and Tokhi, MO (2018). Electromyography assessment of forearm muscles: Towards the control of exoskeleton hand. 5th International Conference on Control, Decision and Information Technologies. Thessaloniki, Greece 10 - 13 Apr 2018 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/CoDIT.2018.8394906
Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator
Annisa, J, Mat Darus, IZ, Tokhi, MO and Mohamaddan, S (2018). Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator. 2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018. Kuching, Malaysia 15 - 17 Aug 2018 https://doi.org/10.1109/ICASSDA.2018.8477615
Indoor Localization of Mobile Robots with Wireless Sensor Network Based on Ultra Wideband using Experimental Measurements of Time Difference of Arrival
Oumar, O, Sattar, T and Tokhi, MO (2018). Indoor Localization of Mobile Robots with Wireless Sensor Network Based on Ultra Wideband using Experimental Measurements of Time Difference of Arrival. CLAWAR 2018. Panama City 10 - 12 Sep 2018
Visual control of a robotic arm
Carter, G, Tokhi, MO and Oumar, OA (2018). Visual control of a robotic arm. 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Panama City, Panama 10 - 12 Sep 2018
Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller
Jaafar, HI, Mohamed, Z, Mohd Subha, NA, Husain, AR, Ismail, FS, Ramli, L, Tokhi, MO and Shamsudin, MA (2018). Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller. Journal of Vibration and Control. 25 (4), pp. 907-921. https://doi.org/10.1177/1077546318804319
Controlling the non-parametric modeling of double link flexible robotic manipulator using hybrid PID tuned by P-type ILA
Annisa, J, Mat Darus, I, Tokhi, MO and Abidin, ASZ (2018). Controlling the non-parametric modeling of double link flexible robotic manipulator using hybrid PID tuned by P-type ILA. International Journal of Integrated Engineering. 10 (7), pp. 219-232. https://doi.org/10.30880/ijie.2018.10.07.020
Utilizing P-Type ILA in tuning Hybrid PID Controller for Double Link Flexible Robotic Manipulator
Jamali, A, Mat Darus, IZ, Tokhi, MO and Abidin, ASZ (2018). Utilizing P-Type ILA in tuning Hybrid PID Controller for Double Link Flexible Robotic Manipulator. 2nd International Conference on Smart Sensors and Application, ICSSA 2018. Kuching, Malaysia 24 - 26 Jul 2018 pp. 141-146 https://doi.org/10.1109/ICSSA.2018.8535973
Decentralized intelligent PID based controller tuned by evolutionary algorithm for double link flexible robotic manipulator with experimental validation
Annisa, J, Mat Darus, IZ, Hassan, MH and Tokhi, MO (2018). Decentralized intelligent PID based controller tuned by evolutionary algorithm for double link flexible robotic manipulator with experimental validation. Intelligent Control and Automation Symposium. Johor, Malaysia 27 Nov 2018
A novel approach in S-shaped input design for higher vibration reduction
Maghsoudi, MJ, Nacer, H, Tokhi, MO and Mohamed, Z (2018). A novel approach in S-shaped input design for higher vibration reduction. Applications of Modelling and Simulation. 2 (2), pp. 76-83.
A modified bats echolocation-based algorithm for solving constrained optimisation problems
Mat Yahya, N and Tokhi, M O (2017). A modified bats echolocation-based algorithm for solving constrained optimisation problems. International Journal of Bio-Inspired Computation. 1 (1), pp. 1-1. https://doi.org/10.1504/ijbic.2016.10004313
Control of a gantry crane using input shaping schemes with distributed delay
Maghsoudi, MJ, Mohamed, Z, Tokhi, MO, Husain, AR and Abidin, MSZ (2017). Control of a gantry crane using input shaping schemes with distributed delay. Transactions of the Institute of Measurement and Control. 39 (3), pp. 361-370. https://doi.org/10.1177/0142331215607615
Evolutionary algorithm based controller for double link flexible robotic manipulator
Annisa, J, Mat Darus, IZ and Tokhi, MO (2017). Evolutionary algorithm based controller for double link flexible robotic manipulator. Mechanical Engineering Research Day. Melaka, Malaysia 30 - 30 Mar 2017
PD-Fuzzy Control of Single Lower Limb Exoskeleton for Hemiplegia Mobility
K Alshatti, Abdullah and Tokhi, M. (2017). PD-Fuzzy Control of Single Lower Limb Exoskeleton for Hemiplegia Mobility. 3rd International Conference on Artificial Intelligence and Soft Computing. Academy & Industry Research Collaboration Center (AIRCC). https://doi.org/10.5121/csit.2017.71005
A modified bats echolocation-based algorithm for solving constrained optimisation problems
Yahya, NM and Tokhi, MO (2017). A modified bats echolocation-based algorithm for solving constrained optimisation problems. International Journal of Bio-Inspired Computation. 10 (1), pp. 12-23. https://doi.org/10.1504/IJBIC.2017.085335
Modelling and control of standing up and sitting down manoeuver
Ishak, AJ, Tokhi, MO, Al-Quraishi, MS, Linares, DM and Ali, SK (2017). Modelling and control of standing up and sitting down manoeuver. Pertanika Journal of Science and Technology. 25, pp. 243-250.
Hybridizing invasive weed optimization with firefly algorithm for unconstrained and constrained optimization problems
Kasdirin, HA, Yahya, NM, Aras, MSM and Tokhi, MO (2017). Hybridizing invasive weed optimization with firefly algorithm for unconstrained and constrained optimization problems. Journal of Theoretical and Applied Information Technology. 95 (4), pp. 912-927.
Joint variable stiffness of musculoskeletal leg mechanism for quadruped robot
Lei, J, Zhu, J, Xie, P and Tokhi, MO (2017). Joint variable stiffness of musculoskeletal leg mechanism for quadruped robot. Advances in Mechanical Engineering. 9 (4), pp. 1-11. https://doi.org/10.1177/1687814017690342
Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
Goher, KM, Almeshal, AM, Agouri, SA, Nasir, ANK, Tokhi, MO, Alenezi, MR, Al Zanki, T and Fadlallah, SO (2017). Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines. Robotics and Biomimetics. 4 (1). https://doi.org/10.1186/s40638-017-0059-1
Assessment strategy of human upper forearm inter-relation and muscle fatigue
Wan Daud, WMB and Tokhi, MO (2017). Assessment strategy of human upper forearm inter-relation and muscle fatigue. CLAWAR2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing.
Real-time embedded sliding mode observer for quadcopter UAVs
Firdaus, AR and Tokhi, MO (2017). Real-time embedded sliding mode observer for quadcopter UAVs. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing.
Upper-limb exoskeleton for human muscle fatigue
Ali, SK and Tokhi, MO (2017). Upper-limb exoskeleton for human muscle fatigue. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing.
A new bats echolocation-based algorithm for single objective optimisation
Yahya, NM, Tokhi, MO and Kasdirin, HA (2016). A new bats echolocation-based algorithm for single objective optimisation. Evolutionary Intelligence. 9 (1-2), pp. 1-20. https://doi.org/10.1007/s12065-016-0134-5
Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair.
Abdul Ghani, NM and Tokhi, MO (2016). Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair. Journal of Biomechanical Engineering. 138 (4). https://doi.org/10.1115/1.4032800
Fuzzy PID control of lower limb exoskeleton for elderly mobility
Rezage, GA and Tokhi, MO (2016). Fuzzy PID control of lower limb exoskeleton for elderly mobility. 2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR). Cluj-Napoca, Romania 19 - 21 May 2016 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/AQTR.2016.7501310
Fuzzy sliding control with non-linear observer for magnetic levitation systems
Benomair, AM, Firdaus, AR and Tokhi, MO (2016). Fuzzy sliding control with non-linear observer for magnetic levitation systems. MED 2016 - 24th Mediterranean Conference on Control and Automation. Athens, Greece 21 - 24 Jun 2016 Institute of Electrical and Electronics Engineers (IEEE). pp. 256-261 https://doi.org/10.1109/MED.2016.7536025
Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton
Rezage, GA, Kasdirin, HA, Ali, SK and Tokhi, MO (2016). Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton. 21st International Conference on methods and Models in Automation and Robotics (MMAR). Miedzyzdroje, Poland 29 Aug - 01 Sep 2016 Institute of Electrical and Electronics Engineers (IEEE). pp. 1116-1121 https://doi.org/10.1109/MMAR.2016.7575294
Tracking human upper-limb movements with sliding mode control type-II fuzzy logic
Ali, SK, Firdaus, AR, Tokhi, MO and Alrezage, G (2016). Tracking human upper-limb movements with sliding mode control type-II fuzzy logic. Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics (MMAR). Miedzyzdroje, Poland 29 Aug - 01 Sep 2016 Institute of Electrical and Electronics Engineers (IEEE). pp. 426-431 https://doi.org/10.1109/MMAR.2016.7575173
Advances in Cooperative Robotics
Tokhi, MO and Virk, GS (2016). Advances in Cooperative Robotics. 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Queen Mary University, London 12 - 14 Sep 2016 World Scientific Publishing. pp. v
Chaotic spiral dynamics optimization algorithm
Hashim, MR and Tokhi, MO (2016). Chaotic spiral dynamics optimization algorithm. The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines. Queen Mary University, London 12 - 14 Sep 2016 World Scientific Publishing. pp. 551-558
PD-fuzzy control of lower limb exoskeleton for elderly mobility
Alrezage, G, Alshatti, A and Tokhi, MO (2016). PD-fuzzy control of lower limb exoskeleton for elderly mobility. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing. pp. 823-831
Simulation and control of multipurpose wheelchair for disabled/elderly mobility
Abdul Ghani, NM and Tokhi, MO (2016). Simulation and control of multipurpose wheelchair for disabled/elderly mobility. Integrated Computer-Aided Engineering. 23 (4), pp. 331-347. https://doi.org/10.3233/ICA-160526
Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation
Nasir, ANK and Tokhi, MO (2015). Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation. Applied Soft Computing . 27, pp. 357-375. https://doi.org/10.1016/j.asoc.2014.11.030
A novel hybrid bacteria-chemotaxis spiral-dynamic algorithm with application to modelling of flexible systems
Nasir, ANK and Tokhi, MO (2014). A novel hybrid bacteria-chemotaxis spiral-dynamic algorithm with application to modelling of flexible systems. Engineering Applications of Artificial Intelligence. 33, pp. 31-46. https://doi.org/10.1016/j.engappai.2014.04.001
Modelling and control of a water-based system of multiple mobile robots for unmanned rescue
Sarker, MMH and Tokhi, MO (2012). Modelling and control of a water-based system of multiple mobile robots for unmanned rescue. The West Indian Journal of Engineering. 34 (1/2), pp. 30-38.
Control of a stair climbing wheelchair
Abdul Ghani, NM, Tokhi, MO, Nasir, ANK and Ahmad, S (2012). Control of a stair climbing wheelchair. IAES International Journal of Robotics and Automation (IJRA). 1 (4). https://doi.org/10.11591/ijra.v1i4.795
Optimized fuzzy control for natural trajectory based FES-swinging motion
Ibrahim, BSKK, Tokhi, MO, Huq, MS and Gharooni, SC (2011). Optimized fuzzy control for natural trajectory based FES-swinging motion. International Journal of Integrated Engineering. 3 (2), pp. 17-23.
Improving particle swarm optimization convergence with spread and momentum factors
Abd Latiff, I and Tokhi, MO (2011). Improving particle swarm optimization convergence with spread and momentum factors. International Journal of Computer Sciences and Engineering Systems. 5 (3), pp. 209-217.
ANFIS and neural network techniques for non-parametric modelling of a twin rotor system
Toha, SF and Tokhi, MO (2010). ANFIS and neural network techniques for non-parametric modelling of a twin rotor system. Systems Science. 36 (4), pp. 13-31.
A novel approach in development of dynamic muscle model for paraplegic with functional electrical stimulation
Jailani, R, Tokhi, MO, Gharooni, S and Hussain, Z (2009). A novel approach in development of dynamic muscle model for paraplegic with functional electrical stimulation. Journal of Engineering and Applied Sciences. 4 (4), pp. 272-276.
Multi-objective genetic algorithm optimisation approach for the geometrical design of an active noise control system
Jafferi, N and Tokhi, MO (2009). Multi-objective genetic algorithm optimisation approach for the geometrical design of an active noise control system. International Journal of Integrated Engineering. 1 (1), pp. 73-86.
Identification of active properties of knee joint using GA optimization
Ibrahim, BSKK, Huq, MS, Tokhi, MO, Gharooni, SC, Jailani, R and Hussain, Z (2009). Identification of active properties of knee joint using GA optimization. 4th International Conference on Mechatronics (ICOM). 17 - 19 May 2011
Particle swarm optimisation algorithms and their application to controller design for flexible structure systems
Tokhi, MO and Alam, MS (2009). Particle swarm optimisation algorithms and their application to controller design for flexible structure systems. IST Transactions of Control Engineering-Theory and Applications. 1 (3(9)), pp. 12-25.
System identification of a twin rotor multi-input multi-output system using adaptive filters with pseudo random binary input
Alam, MS and Tokhi, MO (2008). System identification of a twin rotor multi-input multi-output system using adaptive filters with pseudo random binary input. The Dhaka University Journal of Science. 57 (2), pp. 131-136.
Dynamic modelling of a twin rotor system: a genetic algorithm optimisation approach
Alam, MS and Tokhi, MO (2008). Dynamic modelling of a twin rotor system: a genetic algorithm optimisation approach. The Dhaka University Journal of Science. 56 (2), pp. 183-187.
Augmented feedforward and feedback control scheme for input tracking and vibration control
Alam, MS, Aldebrez, FM and Tokhi, MO (2008). Augmented feedforward and feedback control scheme for input tracking and vibration control. The Dhaka University Journal of Science. 57 (1), pp. 67-70.
Genetic algorithm-based modeling and optimization of control parameters of an air motor
Marumo, RR and Tokhi, MO (2008). Genetic algorithm-based modeling and optimization of control parameters of an air motor. Journal of Intelligent Systems. 17 (Supplement), pp. 87-108. https://doi.org/10.1515/JISYS.2008.17.S1.87
Genetic algorithm optimization and control system design of flexible structures
Tokhi, MO, Md Zain, MZ, Alam, MS, Aldebrez, FM, Mohd Hashim, SZ and Mat Darus, IZ (2008). Genetic algorithm optimization and control system design of flexible structures. Journal of Intelligent Systems. 17 (Supplement), pp. 133-168. https://doi.org/10.1515/JISYS.2008.17.S1.133
Mobile robotics moves forward on standardisation
Tokhi, MO (2007). Mobile robotics moves forward on standardisation. Industrial Robot: An International Journal. 34 (2). https://doi.org/10.1108/ir.2007.04934baa.002
Modelling and simulation of an air motor system using extended radial basis algorithm
Marumo, R and Tokhi, MO (2007). Modelling and simulation of an air motor system using extended radial basis algorithm. Botswana Journal of Technology. 16 (1), pp. 16-25.
GA-based neural fuzzy control of flexible-link manipulators
Siddique, MNH and Tokhi, MO (2006). GA-based neural fuzzy control of flexible-link manipulators. Engineering Letters. 13 (2), pp. 148-157.
Performance Of Hybrid Learning Control With Input Shaping For Input Tracking And Vibration Suppression Of A Flexible Manipulator
Md. Zain, MZ, Tokhi, MO and Mohamed, Z (2006). Performance Of Hybrid Learning Control With Input Shaping For Input Tracking And Vibration Suppression Of A Flexible Manipulator. Jurnal Teknologi. 44 (1). https://doi.org/10.11113/jt.v44.353
Modelling, simulation and proportional integral control of a pneumatic motor
Marumo, R and Tokhi, MO (2006). Modelling, simulation and proportional integral control of a pneumatic motor. Engineering Letters. 13 (2), pp. 185-194.
Real-time design constraints in implementing active vibration control algorithms
Hossain, MA and Tokhi, MO (2006). Real-time design constraints in implementing active vibration control algorithms. International Journal of Automation and Computing. 3 (3), pp. 252-262. https://doi.org/10.1007/s11633-006-0252-0
Intelligent methods for active noise and vibration control
Tokhi, M O (2004). Intelligent methods for active noise and vibration control. Archives of Acoustics. 29 (2), pp. 259-273.
Genetic modelling and simulation of flexible structures
Mohd Hashim, SZ and Tokhi, MO (2004). Genetic modelling and simulation of flexible structures. Studies in Informatics and Control. 13 (4), pp. 253-264.
Improving performance in single-link flexible manipulator using hybrid learning control
Md Zain, MZ, Tokhi, MO, Mailah, M and Mohamed, Z (2004). Improving performance in single-link flexible manipulator using hybrid learning control. Jurnal Mekanikal. 18, pp. 13-28.
Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system
Ahmad, SM, Chipperfield, AJ and Tokhi, MO (2004). Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 218 (6), pp. 451-463. https://doi.org/10.1243/0959651052010089
Adaptive active control of noise and vibration
Tokhi, MO (2003). Adaptive active control of noise and vibration. Archives of Control Sciences. 13 (2), pp. 117-139.
Genetic algorithms based adaptive active vibration control of a flexible plate structure
Mat Darus, IZ and Tokhi, MO (2003). Genetic algorithms based adaptive active vibration control of a flexible plate structure. Systems Science. 29 (3), pp. 65-79.
Vibration control of pitch movement using command shaping techniques– Experimental investigation
Aldebrez, FM and Tokhi, MO (2003). Vibration control of pitch movement using command shaping techniques– Experimental investigation. Systems Science. 29 (2), pp. 129-143. https://doi.org/10.1109/ETFA.2003.1247741
Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system
Ahmad, SM, Chipperfield, AJ and Tokhi, MO (2003). Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 217 (3), pp. 203-227. https://doi.org/10.1243/095965103765832885
Active noise and vibration control–Part I
Tokhi, M O and Figwer, J (2003). Active noise and vibration control–Part I. Archives of Control Sciences. 13 (2).
Active noise and vibration control–Part II
Figwer, J and Tokhi, MO (2003). Active noise and vibration control–Part II. Archives of Control Sciences. 13 (3).
Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system
Ahmad, SM, Chipperfield, AJ and Tokhi, MO (2003). Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 217 (3), pp. 203-227. https://doi.org/10.1243/095965103765832885
Dynamic modelling of a single-link flexible manipulator: Parametric and non-parametric approaches
Shaheed, MH and Tokhi, MO (2002). Dynamic modelling of a single-link flexible manipulator: Parametric and non-parametric approaches. Robotica. 20 (1), pp. 93-109. https://doi.org/10.1017/s0263574701003678