Performance Analysis of a Robust Controller with Neural Network Algorithm for Compliance Tendon–Sheath Actuation Lower Limb Exoskeleton DOI Creative Commons

Haimin He,

Ruru Xi,

Youping Gong

et al.

Machines, Journal Year: 2022, Volume and Issue: 10(11), P. 1064 - 1064

Published: Nov. 11, 2022

Robotic rehabilitation of the lower limb exoskeleton following neurological injury has proven to be an effective technique. Developing assistive control strategies that achieve rehabilitative movements can increase potential for recovery motor coordination participants. In this paper, innovative contributions are investigate a robust sliding mode controller (SMC) with radials basis function neural network algorithm (RBFNN) compensator novel compliance tendon–sheath actuation (CLLE) provide intrinsic thigh and shank training. The employing RBFNN is proposed reduce impact friction from system (CTSA). design compensator, single parameter investigated replace weight information network. Our shown yield fast, stable, accurate performance regardless uncertainties interaction. Two additional algorithms, including adaptive (RASMC) proportional-integral (SMPIC), introduced in paper comparison. simulations were presented MATLAB/SIMULINK validate superiority controller.

Language: Английский

A robust adaptive-fuzzy-proportional-derivative controller for a rehabilitation lower limb exoskeleton DOI Creative Commons
Norazam Aliman, Rizauddin Ramli, Sallehuddin Mohamed Haris

et al.

Engineering Science and Technology an International Journal, Journal Year: 2022, Volume and Issue: 35, P. 101097 - 101097

Published: Feb. 11, 2022

Achieving high performance controller for multi-joints actuators on rehabilitation lower limb exoskeleton (RLLE) is difficult due to its non-linear characteristics. The with less tracking error a key challenge in their controller. Therefore, this paper presents new particle swarm optimization based initialization of model reference adaptive fuzzy logic proportional derivative (Adaptive-FLC-PD), used RLLE passive mode exercise. modelling, which integrates lower-limb coupled direct current motor as joint actuator and patient leg model, was simulated MATLAB. motion realised via trajectory method that imitates therapist-administered manual activity during passively An Adaptive-FLC-PD designed control the drive hip knee exoskeleton. stability analysis has been shown by applied Lyapunov function. compared (FLC) FLC-proportional (FLC-PD) algorithms. numerical ascertained designing, tuning simulating system RLLE.

Language: Английский

Citations

25
Active Disturbance Rejection Control Based on Twin-Delayed Deep Deterministic Policy Gradient for an Exoskeleton DOI
Li Zhong, Xiaorong Guan, Chunyang Liu

et al.

Journal of Bionic Engineering, Journal Year: 2025, Volume and Issue: unknown

Published: March 21, 2025

Language: Английский

Citations

0
Optimal Interval Type-2 Fuzzy Logic Control Based Closed-Loop Regulation of Mean Arterial Blood Pressure Using the Controlled Drug Administration DOI

Richa Sharma,

Anupam Kumar

IEEE Sensors Journal, Journal Year: 2022, Volume and Issue: 22(7), P. 7195 - 7207

Published: Feb. 15, 2022

In pandemic times, the remote and automatic control/observation of physiological variables patients is prime necessity for healthcare technologies. The closed-loop regulation mean arterial pressure essential critically ill or post-surgery recovery patients. have serious issues such as parameter variations uncertainties. this paper, an interval type-2 fuzzy logic controller (IT2FLC) with footprints uncertainty in membership functions presented a two-layered design (TL-IT2FLC) that can efficiently deal uncertainties variations. design, pre-compensator IT2FLC used, which deals before primary approach. robustness analysis proposed method investigated external noise, results are compared traditional PID T1-FLC techniques.

Language: Английский

Citations

20
Chaos-based optimal path planning of humanoid robot using hybridized regression-gravity search algorithm in static and dynamic terrains DOI

Vikas Kumar,

Dayal R. Parhi

Applied Soft Computing, Journal Year: 2023, Volume and Issue: 140, P. 110236 - 110236

Published: March 23, 2023

Language: Английский

Citations

11
Swarm-initialized adaptive controller with beetle antenna searching of wearable lower limb exoskeleton for sit-to-stand and walking motions DOI
Mohammad Soleimani Amiri, Rizauddin Ramli, Mien Van

et al.

ISA Transactions, Journal Year: 2025, Volume and Issue: unknown

Published: Jan. 1, 2025

Language: Английский

Citations

0
LMI-based robust composite position control of a knee rehabilitation exoskeleton robot subject to motion constraints DOI
Sahar Jenhani, Hassène Gritli, Jyotindra Narayan

et al.

International Journal of Dynamics and Control, Journal Year: 2025, Volume and Issue: 13(3)

Published: March 1, 2025

Language: Английский

Citations

0
Model-free based adaptive BackStepping-Super Twisting-RBF neural network control with α-variable for 10 DOF lower limb exoskeleton DOI
Farid Kenas, Nadia Saadia, Amina Ababou

et al.

International Journal of Intelligent Robotics and Applications, Journal Year: 2024, Volume and Issue: 8(1), P. 122 - 148

Published: Feb. 25, 2024

Language: Английский

Citations

3
Position/force evaluation-based assist-as-needed control strategy design for upper limb rehabilitation exoskeleton DOI
Yida Guo, Haoping Wang, Yang Tian

et al.

Neural Computing and Applications, Journal Year: 2022, Volume and Issue: 34(15), P. 13075 - 13090

Published: March 27, 2022

Language: Английский

Citations

15
Application of Dragonfly Algorithm-Based Interval Type-2 Fuzzy Logic Closed-Loop Control System to Regulate the Mean Arterial Blood Pressure DOI
Richa Sharma, Om Prakash Verma, Pratima Kumari

et al.

Lecture notes in networks and systems, Journal Year: 2024, Volume and Issue: unknown, P. 183 - 193

Published: Jan. 1, 2024

Language: Английский

Citations

2
A Wearable Upper Limb Exoskeleton System and Intelligent Control Strategy DOI Creative Commons

Qiang Wang,

Chunjie Chen,

X. Mu

et al.

Biomimetics, Journal Year: 2024, Volume and Issue: 9(3), P. 129 - 129

Published: Feb. 21, 2024

Heavy lifting operations frequently lead to upper limb muscle fatigue and injury. In order reduce fatigue, auxiliary force for limbs can be provided. This paper presents the development evaluation of a wearable exoskeleton (ULE) robot system. A flexible cable transmits torque is connected by bypassing shoulder. Based on K-nearest neighbors (KNN) algorithm integrated fuzzy PID control strategy, ULE identifies handling posture provides accurate active automatically. Overall, it has quality being light easy wear. unassisted mode, wearer’s minimally affect range movement. The KNN uses multi-dimensional motion information collected sensor, test accuracy 94.59%. Brachioradialis (BM), triceps brachii (TB), biceps (BB) electromyogram (EMG) signals were evaluated 5 kg, 10 15 kg weight conditions five subjects, respectively, during lifting, holding, squatting. Compared with without assistance assistance, average peak values EMG BM, TB, BB reduced 19–30% whole process, which verified that developed could provide practical under different load conditions.

Language: Английский

Citations

2