TITLE

Optimization of the control scheme for human extremity exoskeleton

AUTHOR(S)
Yang Li; Cheng Xu; Xiaorong Guan; Zhong Li
PUB. DATE
December 2016
SOURCE
Journal of Vibroengineering;Dec2016, Vol. 18 Issue 8, p5432
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
One kind traditional PI (Proportion Integration) control scheme was proposed to be applied to human extremity exoskeleton (HEE, for short) in our previous works, and the simulation study and experimental study was also carried out. By analyzing the simulation calculation results, it was shown that the traditional PI controller is not very appropriate for human body in every movement speed condition. So, at last the fuzzy self-adaptive PI controller was proposed to solve this problem. Eventually, the superiority and feasibility of the fuzzy selfadaptive PI controller was proved by the simulation results and experimental results.
ACCESSION #
120525746

 

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