Abstract
AbstractWith the excellent characteristic of intrinsic compliance, pneumatic artificial muscle can improve the interaction comfort of wearable robotic devices. This paper resolves the safety tracking control problem of a pneumatically actuated lower limb exoskeleton system. A single-parameter adaptive fuzzy control strategy is proposed with high control precision and full state constraints for the safe gait training tasks. Based on the barrier Lyapunov function, all signals in the closed-loop system can be bounded in finite time, which guarantees the deviation of the exoskeleton’s moving trajectory within a bounded range. Furthermore, with the proposed single-parameter adaptive law, the computational burden and the complexity of the control are reduced significantly. Finally, numerical simulations, no-load tracking experiments, and passive and active gait training experiments with healthy subjects validate the effectiveness of the proposed method.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering,Control and Optimization,Mechanical Engineering,Modeling and Simulation
Cited by
3 articles.
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1. Exo skeleton pertinence and control techniques: A state-of-the-art review;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2024-02-05
2. Design and Modeling of an Exoskeleton Robotic System for the Rehabilitation of Lower Limbs;2023 IEEE International Conference on Advanced Systems and Emergent Technologies (IC_ASET);2023-04-29
3. A new MOPSO algorithm for solving mathematical test functions and control engineering problems;Transactions of the Institute of Measurement and Control;2023-04-11