Name
Title | ||
|---|---|---|
Self organizing fuzzy control of pneumatic artificial muscle for active orthotic device |
Abstract | ||
|---|---|---|
The design and development of an offline self organizing fuzzy controller for a pneumatic artificial muscle (PAM) is discussed in this paper. This inherently compliant soft actuator is intended as the driving component in a mobile, lower limb, assistive/rehabilitative orthotic device. Accurate control using classical control approach is difficult due to the compressibility of gas and the nonlinear elasticity of the PAM bladder. To overcome this, a self-organizing fuzzy controller is proposed and tested in simulation. Results for step, ramp and sinusoidal inputs exhibit excellent tracking capability. The rise time for a 17% contraction (knee contraction angle of 60° - upper limit of average knee contraction during walking) step input is 0.2s, while the steady state error is well below 2%. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/COASE.2010.5583985 | Automation Science and Engineering |
Keywords | Field | DocType |
actuators,artificial limbs,fuzzy control,medical control systems,orthotics,patient rehabilitation,self-adjusting systems,PAM bladder,accurate control,active orthotic device,classical control approach,gas compressibility,nonlinear elasticity,pneumatic artificial muscle,self organizing fuzzy controller,soft actuator | Control theory,Control theory,Simulation,Fuzzy logic,Rise time,Engineering,Fuzzy control system,Artificial muscle,Orthotics,Orthotic device,Actuator | Conference |
ISBN | Citations | PageRank |
978-1-4244-5447-1 | 3 | 0.44 |
References | Authors | |
2 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mervin Chandrapal | 1 | 3 | 0.44 |
| Xiaoqi Chen | 2 | 21 | 4.19 |
| Wenhui Wang | 3 | 92 | 19.23 |