A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot

Maalej, Boutheina; Medhaffar, Hanene; Chemori, Ahmed; Derbel, Nabil

doi:10.1109/ssd49366.2020.9364130

Cited by 8 publications

(4 citation statements)

References 22 publications

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“…Maalej et al [14] applied a fuzzy sliding mode controller to manage control issues in a 2-DOF lower limb exoskeleton. Two fuzzy systems supervised sliding mode controllers, ensuring accurate trajectory tracking.…”

Section: Fuzzy Logic Controller (Flc)mentioning

confidence: 99%

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Designing a Fuzzy Sliding Mode Controller for 2-DOF Lower Limb Exoskeleton Rehabilitation Robot

Tkue,

Berisha,

Teklay

2024

Preprint

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One promising approach to resolving mobility issues in people with lower limb disabilities is the incorporation of robotics into rehabilitation programs, especially lower limb exoskeletons. The complex mechanics resulting from the nonlinear and erratic dynamics of the lower limb provide difﬁculties for conventional controllers in providing stable and individualized support during rehabilitation exercises. A Fuzzy Sliding Mode Controller for a 2-DOF lower limb exoskeleton rehabilitation robot takes into account the complexity of the rehabilitation process for lower limbs by combining sliding mode control with the adaptable nature of fuzzy logic. By utilizing user-speciﬁc physiological feedback to help with real-time decision-making, the fuzzy logic component enables the exoskeleton to dynamically modify its control parameters. Analyses that compare the FSMC to a traditional sliding mode controller demonstrate how well it handles nonlinear dynamics and provides a more relevant and adaptive control approach.

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Section: Fuzzy Logic Controller (Flc)mentioning

confidence: 99%

“…According to the [14], the dynamics of such a robotic system can be approximated by the following form:…”

Section: Dynamics Modelingmentioning

confidence: 99%

Designing a Fuzzy Sliding Mode Controller for 2-DOF Lower Limb Exoskeleton Rehabilitation Robot

Tkue,

Berisha,

Teklay

2024

Preprint

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“…(Almaghout et al, 2020) proposed super-twisting nonsingular terminal sliding mode control for design and control of a lower limb rehabilitation robot, taking into account negative torques of the patient's limb to obtain the desired training missions; their results are comparable to those of adaptive sliding mode control. A Fuzzy Sliding Mode Controller (FSMC) was also proposed by (Maalej et al, 2020) for minimizing torques applied to a rehabilitation robot to help children, suffering from several diseases, to walk compared to the use of wheelchairs. Their simulation results show that the proposed controller is effective, moreover, it has been shown that the fuzzy sliding mode controllers are robust against parametric variations such as masses and lengths of kid's legs.…”

Section: Introductionmentioning

confidence: 99%

Optimal Sliding Mode Controller Design Based on Whale Optimization Algorithm for Lower Limb Rehabilitation Robot

Sabah

HAMEED

Al-Huseiny

2021

acs

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The Sliding Mode Controllers (SMCs) are considered among the most common stabilizer and controllers used with robotic systems due to their robust nonlinear scheme designed to control nonlinear systems. SMCs are insensitive to external disturbance and system parameters variations. Although the SMC is an adaptive and model-based controller, some of its values need to be determined precisely. In this paper, an Optimal Sliding Mode Controller (OSMC) is suggested based on Whale Optimization Algorithm (WOA) to control a two-link lower limb rehabilitation robot. This controller has two parts, the equivalent part, and the supervisory controller part. The stability assurance of the controlled rehabilitation robot is analyzed based on Lyapunov stability. The WO algorithm is used to determine optimal parameters for the suggested SMC. Simulation results of two tested trajectories (linear step signal and nonlinear sine signal) demonstrate the effectiveness of the suggested OSMC with fast response, very small overshoot, and minimum steady-state error.

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“…The sliding mode controller is generally utilized in industry and biomedical robots [15][16]. The controller can be planned regardless of the boundaries of the exploration model.…”

Section: Introductionmentioning

confidence: 99%

A Study on the Response of the Rehabilitation Lower Device using Sliding Mode Controller

Duc

Tuy

Phuoc

2021

Eng. Technol. Appl. Sci. Res.

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This paper presents the application of the sliding mode controller to simulate the control of a 3 Degree of Freedom (DoF) robot model that supports lower extremity rehabilitation exercises for stroke patients. The 3 DoF robot model has an established dynamic differential equation for each joint. This paper studied the response of links of the research model with a sliding mode controller proposed as the control solution. Matlab software was used in simulations of ankle, knee, and hip joints' drive for 2 cases, without and with load. Compared with other studies, the research results show that the sliding controller results in slight angular errors when applied to the research model, while the torque of the joints remains low. This result is the basis for calculating and selecting parameters for the actuator when manufacturing the actual equipment.

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A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot

Cited by 8 publications

References 22 publications

Designing a Fuzzy Sliding Mode Controller for 2-DOF Lower Limb Exoskeleton Rehabilitation Robot

Designing a Fuzzy Sliding Mode Controller for 2-DOF Lower Limb Exoskeleton Rehabilitation Robot

Optimal Sliding Mode Controller Design Based on Whale Optimization Algorithm for Lower Limb Rehabilitation Robot

A Study on the Response of the Rehabilitation Lower Device using Sliding Mode Controller

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