Mohamed Abbas

Indian Institute of Technology Guwahati | IIT Guwahati · Department of Mechanical Engineering

In this paper, an adaptive motion-force control scheme is presented for a networked ultrasound robotic manipulator to perform a transversal abdomen scan. An adaptive backstepping position controller is designed to ensure the stability of the ultrasound robot in the presence of parametric uncertainties and external disturbances. A proportional-integ...

In this article, an adaptive tracking control strategy is designed for uncertain electrically driven end-effector type upper-limb rehabilitation robots subject to an input delay and a limited bandwidth channel. This control scheme is implemented to perform upper-limb passive rehabilitation training for different subjects. Primarily, dynamic analysi...

In this paper, an improved adaptive motion-force control approach is introduced to control the cooperative manipulators transporting a shared object under limited communication. The adaptive controller is designed based on the backstepping approach to control the motion of the handled object in the presence of uncertainties and external disturbance...

The design of a robust control scheme is considered a benchmark problem to address the uncertain dynamic parameters and un-modelled disturbances of the exoskeleton system. This work proposes a robust adaptive iterative learning (AIL) control (AILC) scheme for a paediatric exoskeleton system. Primarily, the mechanical description of the exoskelet...

The main purpose of this work is to design a robust adaptive backstepping (RABS) control strategy for a pediatric exoskeleton system during passive-assist gait rehabilitation. The nonlinear dynamics of the exoskeleton system have ill-effects of uncertain parameters and external interferences. In this work, the designed robust control strategy is ap...

During active-assist rehabilitation mode, the patient started to interact with lower-limb exoskeleton by applying the recovered muscle strength which demands a cooperative control strategy based on the outer and inner loop control scheme. This work proposes a such cooperative framework based on admittance and position control scheme to regulate the...

This paper proposes an adaptive control strategy for multiple uncertain manipulators handling an object cooperatively in the presence of environmental forces and limited communication. To address the same, external and internal admittance models are imposed between the object/environment and manipulators/object to limit the excess interaction and i...

The coupled human-exoskeleton design holds the problem of uncertain model parameters and disturbances, which vary for different age groups and related gait pathological levels. These uncertainties become more dominant in the case of pediatric subjects. Therefore, in this work, a robust singularity- free terminal sliding mode (SFTSM) control is prop...

A phenomenal surge in data generation, accessibility, storage, and processing hardware capacitates the artificial intelligence (AI)-based learning algorithms to solve the nature-inspired complex problems in day-to-day life. Fine-tuned intelligent models can outperform human involvement in a repertoire of domains, significantly impacting performance...

In the present work, a two-link upper limb exoskeleton system is considered with harmonic drive actuators to track a semi-circular and L-shape path. The usage of harmonic drive actuators raises the problem of joint flexibility and produces substantial vibration at the tip of the exoskeleton system. The problem of joint flexibility in the system dyn...

The design of a robust control scheme is considered a benchmark problem to address the uncertain dynamic parameters and un-modelled disturbances of the exoskeleton system. This work proposes a robust adaptive iterative learning (AIL) control (AILC) scheme for a paediatric exoskeleton system. Primarily, the mechanical description of the exoskeleton...

In this paper, the pick and place task of household objects is accomplished using Scorbot-ER 5 Plus robotic arm. A monocular camera is utilized to detect the image of the objects. AlexNet based deep learning technique is devoted to determine the class of the objects before grasping process. Thereafter, the grasping and segregation processes are exe...

Flexibility in manipulators/robots is due to both joint and link flexibility that makes up the system. Flexible robots are preferred over conventional rigid robots in applications like invasive surgeries, space applications, and industries due to their prompt response, low energy requirement, faster operational speeds, and low weight to power ratio...

In the present work, a two-link upper limb exoskeleton system is considered with harmonic drive actuators to track a semi-circular and L-shape path. The usage of harmonic drive actuators raises the problem of joint flexibility and produces substantial vibration at the tip of the exoskeleton system. The problem of joint flexibility in the system dyn...

In this paper, the Scorbot-ER 5 Plus robotic arm is considered to track two different trajectories i.e., straight line and semi-circular one. For the same, the forward kinematic analysis is performed using DH convention. However, due to the unavailability of the closed form, solving the inverse kinematic problem is a quite challenging task. Therefo...

The flexible robots are favoured in industries and in space applications due to their quick response, low energy consumption, lower overall mass and operation at high speeds compared to conventional industrial rigid link robots. These flexible linkrobots are inherently flexible and this effects the end-point positioning accuracy of the robot. It is...