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
| Original language | English |
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| Publication status | Published - 20 Dec 2018 |
| Event | International Conference on Applied Engineering - Duration: 20 Dec 2018 → … |
Conference
| Conference | International Conference on Applied Engineering |
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| Period | 20/12/18 → … |
Keywords
- Fuzzy-based control
- Exoskeleton
- Euler- Lagrange approach
- Kinematics and dynamics