PD-Fuzzy Control of Single Lower Limb Exoskeleton for Hemiplegia Mobility

Mohammad osman Tokhi; Mohammad Osman

doi:10.5121/csit.2017.71005

PD-Fuzzy Control of Single Lower Limb Exoskeleton for Hemiplegia Mobility

Mohammad osman Tokhi, Mohammad Osman

Electrical and Electronic Engineering

Research output: Contribution to conference › Paper

Abstract

This paper presents studies in the design and control of single leg exoskeleton for hemiplegia mobility in simulation environment. The exoskeleton is designed to support the affected side of the hemiplegia patient while the other leg functions normally. Hip, knee and ankle joints for both humanoid leg and exoskeleton of the affected side are controlled using PD-Fuzzy control to obtain the required natural torque to allow the exoskeleton to compensate for the deficiency in affected leg to achieve normal symmetric gait. The controller is implemented in MATLAB, and the system behaviour observed in Visual Nastran 4D (VN4D) during simulation. Simulation results show that the exoskeleton can support the humanoid with the required augmentation using the proposed design and control.

Original language	English
DOIs	https://doi.org/10.5121/csit.2017.71005
Publication status	Published - 26 Aug 2017
Event	3rd International Conference on Artificial Intelligence and Soft Computing - Duration: 26 Aug 2017 → …

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Conference	3rd International Conference on Artificial Intelligence and Soft Computing
Period	26/08/17 → …

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10.5121/csit.2017.71005Licence: CC BY 4.0

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title = "PD-Fuzzy Control of Single Lower Limb Exoskeleton for Hemiplegia Mobility",

abstract = "This paper presents studies in the design and control of single leg exoskeleton for hemiplegia mobility in simulation environment. The exoskeleton is designed to support the affected side of the hemiplegia patient while the other leg functions normally. Hip, knee and ankle joints for both humanoid leg and exoskeleton of the affected side are controlled using PD-Fuzzy control to obtain the required natural torque to allow the exoskeleton to compensate for the deficiency in affected leg to achieve normal symmetric gait. The controller is implemented in MATLAB, and the system behaviour observed in Visual Nastran 4D (VN4D) during simulation. Simulation results show that the exoskeleton can support the humanoid with the required augmentation using the proposed design and control.",

author = "Tokhi, {Mohammad osman} and Mohammad Osman",

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AU - Osman, Mohammad

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N2 - This paper presents studies in the design and control of single leg exoskeleton for hemiplegia mobility in simulation environment. The exoskeleton is designed to support the affected side of the hemiplegia patient while the other leg functions normally. Hip, knee and ankle joints for both humanoid leg and exoskeleton of the affected side are controlled using PD-Fuzzy control to obtain the required natural torque to allow the exoskeleton to compensate for the deficiency in affected leg to achieve normal symmetric gait. The controller is implemented in MATLAB, and the system behaviour observed in Visual Nastran 4D (VN4D) during simulation. Simulation results show that the exoskeleton can support the humanoid with the required augmentation using the proposed design and control.

AB - This paper presents studies in the design and control of single leg exoskeleton for hemiplegia mobility in simulation environment. The exoskeleton is designed to support the affected side of the hemiplegia patient while the other leg functions normally. Hip, knee and ankle joints for both humanoid leg and exoskeleton of the affected side are controlled using PD-Fuzzy control to obtain the required natural torque to allow the exoskeleton to compensate for the deficiency in affected leg to achieve normal symmetric gait. The controller is implemented in MATLAB, and the system behaviour observed in Visual Nastran 4D (VN4D) during simulation. Simulation results show that the exoskeleton can support the humanoid with the required augmentation using the proposed design and control.

U2 - 10.5121/csit.2017.71005

DO - 10.5121/csit.2017.71005

M3 - Paper

T2 - 3rd International Conference on Artificial Intelligence and Soft Computing

Y2 - 26 August 2017

ER -

PD-Fuzzy Control of Single Lower Limb Exoskeleton for Hemiplegia Mobility

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