Open AccessResearch on fuzzy PID lower extremity exoskeleton control system based on pneumatic drive
Author(s) -
Zhu Shan-an,
Yang Han,
Meng Zhang,
Pei Kang Shen,
Zhenyu Wu
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1311/1/012019
Subject(s) - exoskeleton , pid controller , dspace , actuator , swing , control engineering , control theory (sociology) , control system , engineering , fuzzy control system , fuzzy logic , controller (irrigation) , simulation , computer science , pneumatic actuator , control (management) , artificial intelligence , mechanical engineering , temperature control , agronomy , electrical engineering , algorithm , biology
The lower extremity rehabilitation exoskeleton based on pneumatic muscle actuator was introduced. The gait experiments were implemented, and the biomechanics of human walking were outputted for the design and control of lower rehabilitation exoskeleton. The experiment platform was built based on DSPACE system and the fuzzy adaptive PID controller was applied for the control of lower rehabilitation exoskeleton. The experiment results showed that adding the pre-feedback control based on fuzzy adaptive PID can significantly reduce the time that the system, and the experiment of swing control also showed that a high level of coordination between the user swing motion and the exoskeleton leg.