Fuzzy PID control of lower limb exoskeleton for elderly mobility
Rezage, GA and Tokhi, MO (2016). Fuzzy PID control of lower limb exoskeleton for elderly mobility. 2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR). Cluj-Napoca, Romania 19 - 21 May 2016 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/AQTR.2016.7501310
|Authors||Rezage, GA and Tokhi, MO|
© 2016 IEEE. This paper presents investigations into the development of an assistive device for elderly mobility. An exoskeleton is designed as an assistive device, to enhance the lower extremity and provide supporting torque to augment the torque of hip and knee during the walking cycle. A humanoid and actuated exoskeleton frame are designed in solid works and then imported to Visual Nastran 4D virtual environment. Fuzzy PID Control algorithm uses to control the actuated exoskeleton. Simulated walking tasks are performed with a humanoid wearing the exoskeleton. It is assumed that the humanoid representing an elderly person, is able to provide 60% of the whole torque required to complete the gait cycle, and the assistive device providing 40% of the overall torque.
|Journal||2016 20th IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR 2016 - Proceedings|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Digital Object Identifier (DOI)||https://doi.org/10.1109/AQTR.2016.7501310|
|Accepted author manuscript|
File Access Level
|19 May 2016|
|Publication process dates|
|Deposited||14 Dec 2017|
|Accepted||20 May 2016|
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