Novel Design and Adaptive Fuzzy Control of a Lower-Limb Elderly Rehabilitation

Design and control of a lower-limb exoskeleton rehabilitation of the elderly are the main challenge for health care in the past decades. In order to satisfy the requirements of the elderly or disabled users, this paper presents a novel design and adaptive fuzzy control of lower-limb empowered rehabilitation, namely MOVING UP. Different from other rehabilitation devices, this article considers active rehabilitation training devices. Firstly, a novel product design method based on user experience is proposed for the lower-limb elderly exoskeleton rehabilitation. At the same time, in order to achieve a stable operation control for the assistant rehabilitation system, an adaptive fuzzy control scheme is discussed. Finally, the feasibility of the design and control method is validated with a detailed simulation study and the human-interaction test. With the booming demand in the global market for the assistive lower-limb exoskeleton, the methodology developed in this paper will bring more research and manufacturing interests.

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Analysis of an Adaptive Fuzzy Control Scheme: Application to a Lower Limb Exoskeleton

2020 IEEE 17th India Council International Conference (INDICON) ◽

10.1109/indicon49873.2020.9342430 ◽

2020 ◽

Author(s):

Anusha Kumar ◽

Puneet Mishra

Keyword(s):

Fuzzy Control ◽

Lower Limb ◽

Adaptive Fuzzy Control ◽

Adaptive Fuzzy ◽

Lower Limb Exoskeleton ◽

Control Scheme

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Adaptive fuzzy control of MIMO nonlinear systems with unknown hysteresis and control gain matrix sign

2008 16th Mediterranean Conference on Control and Automation ◽

10.1109/med.2008.4602059 ◽

2008 ◽

Cited By ~ 7

Author(s):

A. Boulkroune ◽

M. M'Saad ◽

M. Tadjine ◽

M. Farza

Keyword(s):

Nonlinear Systems ◽

Fuzzy Control ◽

Adaptive Fuzzy Control ◽

Gain Matrix ◽

Mimo Nonlinear Systems ◽

Adaptive Fuzzy ◽

Control Gain ◽

And Control

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Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People

Sensors ◽

10.3390/s20205844 ◽

2020 ◽

Vol 20 (20) ◽

pp. 5844

Author(s):

Zongwei Zhang ◽

Changle Li ◽

Tianjiao Zheng ◽

Hongwu Li ◽

Sikai Zhao ◽

...

Keyword(s):

Lower Extremity ◽

Elderly People ◽

Lower Limb ◽

Potential Field ◽

The Elderly ◽

Lower Limb Exoskeleton ◽

And Control

Tripping is a common problem that everyone faces when walking. This paper mainly focuses on a lower limb exoskeleton that can help those weak in joints to avoid tripping when negotiating stairs or stepping over obstacles. This method does not need a camera or map reconstruction to recognize the obstacles and plan paths. The exoskeleton applies an impedance controller to follow and control the pilot’s movements. A virtual potential field is proposed to help the robot regulate the pilot’s motion and avoid kicking the obstacles appearing in front of the pilot’s foot during walking. Simulation and experiments show that this method works effectively and could help the elderly and those affected by joint weakness avoid tripping when walking.

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Robust Adaptive Fuzzy Control for Planetary Rovers While Climbing up Deformable Slopes with Longitudinal Slip

Advances in Aerospace Engineering ◽

10.1155/2014/620890 ◽

2014 ◽

Vol 2014 ◽

pp. 1-10

Author(s):

Li Zhengcai ◽

Wang Yang

Keyword(s):

Fuzzy Control ◽

Adaptive Fuzzy Control ◽

Mobility Control ◽

Planetary Rovers ◽

Adaptive Fuzzy ◽

Robust Adaptive ◽

Fuzzy Control Strategy ◽

Upper Level ◽

Longitudinal Slip ◽

And Control

Mobility control is one of the most essential parts of planetary rovers’ research and development. The goal of this research is to let the planetary rovers be able to achieve demand of motion from upper level with satisfied control performance under the rough and deformable planetary terrain that often lead to longitudinal slip. The longitudinal slip influences the mobility efficiency obviously, especially on the major deformable slopes. Compared with the past works on normal stiff terrains, properties of soil and interaction between wheels and soil should be considered additionally. Therefore, to achieve the final goal, in this paper, wheel-soil dynamic model for six-wheel planetary rovers while climbing up deformable slopes with longitudinal slip is first built and control based in order to account for slip phenomena. These latter effects are then taken into account within terramechanics theory, relying upon nonlinear control techniques; finally, a robust adaptive fuzzy control strategy with longitudinal slip compensation is developed to reduce the effects induced by slip phenomena and modeling error. Capabilities of this control scheme are demonstrated via full scale simulations carried out with a six-wheel robot moving on sloped deformable terrain, whose real time was computed relying uniquely upon RoSTDyn, a dynamic software.

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Modeling and Control of Winding Hybrid-Driven Based Cable-Parallel Manipulator

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.373-375.111 ◽

2013 ◽

Vol 373-375 ◽

pp. 111-115 ◽

Cited By ~ 1

Author(s):

Hui Hui Sun ◽

Bin Zi ◽

Sen Qian

Keyword(s):

Fuzzy Control ◽

Parallel Manipulator ◽

Adaptive Fuzzy Control ◽

Parallel Manipulators ◽

Kinematics And Dynamics ◽

Friction Compensation ◽

Lagrange Method ◽

Modeling And Control ◽

Adaptive Fuzzy ◽

And Control

This paper deals with modeling and adaptive fuzzy control of winding hybrid-driven cable parallel manipulator (WHDCPM). The WHDCPM has the advantages of both the traditional cable-parallel manipulator (CPM) and hybrid-driven based cable-parallel manipulator (HDCPM) since the hybrid-driven planar five-bar mechanism in HDCPM is replaced by winding hybrid-driven five-bar manipulator in WHDCPM. The physical architecture of WHDCPM is determined, and kinematics and dynamics of the cable parallel manipulators have been studied based on Lagrange method. The numerical simulation is demonstrated as an example with adaptive fuzzy control theory, and the diagrams of trajectory tracking, cable tension, friction compensation and motor torque are shown, respectively. The results demonstrate the feasibility and superiority of the WHDCPM.

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Adaptive Fuzzy Control for Ink Key of Offset Printing Machine

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.201-203.1606 ◽

2011 ◽

Vol 201-203 ◽

pp. 1606-1611

Author(s):

Jian Shan Kang ◽

Hong Yan Chu ◽

Li Gang Cai

Keyword(s):

Fuzzy Control ◽

Adaptive Fuzzy Control ◽

Offset Printing ◽

Adaptive Fuzzy ◽

Control Rules ◽

Real Time Measurement ◽

And Control ◽

Printing Ink ◽

Measurement And Control ◽

Printing Machine

This paper analyzes the defect of some methods for controlling the ink key of offset printing machine, and presents the advantage of adaptive fuzzy control. Aiming at the problem that the processing curve of offset printing is changed by the environmental impact of production, this paper analyzes this non-real-time measurement and control system with time delay and less test data, and proposes the method of adaptive fuzzy control to amend the control table and adjust the slope of the control curve according to the detection deviations. Finally, the control rules are adjusted to meet the actual situation. By simulating the control arithmetic with the example of the control of printing ink keys under specific conditions using Matlab / Simulink, it is proved to be effective to achieve the expectative effect.

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