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12 December 2021 Design of fuzzy adaptive synovial control system for lower limb exoskeleton
Jin ming Liu, Mei Liu, Pei si Zhong, Chao Zhang, Xing Chen Zhu
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Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121270I (2021) https://doi.org/10.1117/12.2625312
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China
Abstract
When the user wears the lower limbs to help the exoskeleton walk, there is bound to be human-computer interaction. If the following performance of the lower limb booster exoskeleton is not good, there is a large error, lag or delay, which will affect the user's action, and even fail to achieve the boosting effect. In this paper, the unilateral lower limb of the exoskeleton robot with lower limbs is used as the research object, and its dynamic model is established by Lagrange method. Aiming at the serious problem of chattering in traditional synovial control, a fuzzy adaptive synovial control system was designed, and a simulation experiment of trajectory following of unilateral lower limb exoskeleton was carried out. The simulation results show that the sliding mode parameter adjustment mechanism based on fuzzy adaptive can effectively suppress the chattering of the system.
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Jin ming Liu, Mei Liu, Pei si Zhong, Chao Zhang, and Xing Chen Zhu "Design of fuzzy adaptive synovial control system for lower limb exoskeleton", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121270I (12 December 2021); https://doi.org/10.1117/12.2625312
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KEYWORDS
Control systems design
Control systems
Fuzzy logic
Adaptive control
Motion analysis
Motion models
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