PD-fuzzy control of lower limb exoskeleton for elderly mobility
Conference paper
Alrezage, G, Alshatti, A and Tokhi, MO (2016). PD-fuzzy control of lower limb exoskeleton for elderly mobility. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing. pp. 823-831
Authors | Alrezage, G, Alshatti, A and Tokhi, MO |
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Type | Conference paper |
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. |
Year | 2016 |
Journal | Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 |
Publisher | World Scientific Publishing |
Accepted author manuscript | License File Access Level Open |
Publication dates | |
12 Sep 2016 | |
Publication process dates | |
Deposited | 18 Dec 2017 |
Accepted | 12 Sep 2016 |
ISBN | 9789813149120 |
Page range | 823-831 |
https://openresearch.lsbu.ac.uk/item/87245
Download files
Accepted author manuscript
Alresage et al_CLA2016_823-831.pdf | ||
License: CC BY 4.0 | ||
File access level: Open |
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