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Fuzzy radial-based impedance controller design for lower limb exoskeleton robot

Published online by Cambridge University Press:  28 September 2022

Peng Zhang ,
Junxia Zhang Open the ORCID record for Junxia Zhang [Opens in a new window]  and
Ahmed Elsabbagh
Peng Zhang
Affiliation:
Tianjin University of Science & Technology, Dagunan Road, Tianjin, China Tianjin Key Laboratory for Integrated Design and Online Monitor Center of Light Design and Food Engineering Machinery Equipment, Tianjin, China
Junxia Zhang*
Affiliation:
Tianjin University of Science & Technology, Dagunan Road, Tianjin, China Tianjin Key Laboratory for Integrated Design and Online Monitor Center of Light Design and Food Engineering Machinery Equipment, Tianjin, China
Ahmed Elsabbagh
Affiliation:
School of Design and Production Engineering, Ain shams University, Cairo, Egypt
*
*Corresponding author: E-mail: zjx@tust.edu.cn
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Abstract

The lower extremity rehabilitation exoskeleton is mainly used to help patients with movement disorders complete rehabilitation training. For the human-machine interaction problem of the lower limb rehabilitation exoskeleton, a fuzzy radial-based impedance (RBF-FVI) controller is proposed in this study. A six degree of freedom (DOF) lower extremity rehabilitation exoskeleton was developed, and the human-machine coupling dynamics model was established. To realize the compliance control of the human-machine coupling system, a novel RBF-FVI controller is designed, which includes an inner-loop fuzzy position control module and an outer-loop impedance control module. The inner-loop fuzzy position control module is mainly used to achieve the tracking control of the desired training trajectory and position adjustment amount. The outer-loop impedance control module regulates the impedance parameters and compensates for the uncertainty terms. The superiority of the proposed controller in trajectory following is verified through simulation and comparison tests. The hardware test of the human-machine coupling system was carried out, and the test results showed that the subject and the exoskeleton system could realize a coordinated and smooth movement.

Keywords

exoskeleton robotcompliance controlhuman-machine interactiontrajectory following
Type
Research Article
Information
Robotica , Volume 41 , Issue 1 , January 2023 , pp. 326 - 345
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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