PD-fuzzy control of lower limb exoskeleton for elderly mobility

Mohammad Osman Tokhi; G Alrezage; A Alshatti

PD-fuzzy control of lower limb exoskeleton for elderly mobility

Mohammad Osman Tokhi
, G Alrezage
, A Alshatti

School of Engineering and Design

Research output: Contribution to conference › Paper › peer-review

Abstract

© 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved. This paper presents investigations into the development of a control strategy lower limb exoskeleton device for elderly people. The exoskeleton is designed to enhance the lower limb capability and provide support torque to augment the torque of knee and hip during the walking cycle. Proportional derivative fuzzy logic controls are designed and implemented in this work. The visual Nastran 4D software is used to develop a simulation model of the exoskeleton and a humanoid for test and verification of the developed control mechanism. Simulation results demonstrating the performance of the adopted approach are presented and discussed.

Original language	English
Publication status	Published - 12 Sept 2016
Event	International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines 2016 - Duration: 9 Dec 2016 → … Conference number: 19

Conference

Conference	International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines 2016
Abbreviated title	CLAWAR 2016
Period	9/12/16 → …

Cite this

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title = "PD-fuzzy control of lower limb exoskeleton for elderly mobility",

abstract = "{\textcopyright} 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved. This paper presents investigations into the development of a control strategy lower limb exoskeleton device for elderly people. The exoskeleton is designed to enhance the lower limb capability and provide support torque to augment the torque of knee and hip during the walking cycle. Proportional derivative fuzzy logic controls are designed and implemented in this work. The visual Nastran 4D software is used to develop a simulation model of the exoskeleton and a humanoid for test and verification of the developed control mechanism. Simulation results demonstrating the performance of the adopted approach are presented and discussed.",

author = "Tokhi, \{Mohammad Osman\} and G Alrezage and A Alshatti",

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T1 - PD-fuzzy control of lower limb exoskeleton for elderly mobility

AU - Tokhi, Mohammad Osman

AU - Alrezage, G

AU - Alshatti, A

N1 - Conference code: 19

PY - 2016/9/12

Y1 - 2016/9/12

N2 - © 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved. This paper presents investigations into the development of a control strategy lower limb exoskeleton device for elderly people. The exoskeleton is designed to enhance the lower limb capability and provide support torque to augment the torque of knee and hip during the walking cycle. Proportional derivative fuzzy logic controls are designed and implemented in this work. The visual Nastran 4D software is used to develop a simulation model of the exoskeleton and a humanoid for test and verification of the developed control mechanism. Simulation results demonstrating the performance of the adopted approach are presented and discussed.

AB - © 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved. This paper presents investigations into the development of a control strategy lower limb exoskeleton device for elderly people. The exoskeleton is designed to enhance the lower limb capability and provide support torque to augment the torque of knee and hip during the walking cycle. Proportional derivative fuzzy logic controls are designed and implemented in this work. The visual Nastran 4D software is used to develop a simulation model of the exoskeleton and a humanoid for test and verification of the developed control mechanism. Simulation results demonstrating the performance of the adopted approach are presented and discussed.

M3 - Paper

T2 - International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines 2016

Y2 - 9 December 2016

ER -

PD-fuzzy control of lower limb exoskeleton for elderly mobility

Abstract

Conference

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