Design an intelligent hybrid position/force control for above knee prosthesis based on adaptive neuro-fuzzy inference system

Raheema, Mithaq Nama; Kadhim, Dhirgaam A.; Hussein, Jabbar S.

doi:10.11591/ijeecs.v23.i2.pp675-685

Cited by 3 publications

(3 citation statements)

References 23 publications

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“…Though the SMC provides with desirable features like robustness and simplicity but suffers from chattering problem. This problem can be attenuated by coupling SMC with adaptive fuzzy system approximation for manipulators [9]. The Fuzzy system comprises of control rules which are in form of IF-THEN to control different operations in a system and to approximate unknown functions [10].…”

Section: Overviewmentioning

confidence: 99%

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Adaptive Neural & Fuzzy Controller for Exoskeleton Gait Pattern Control Based on Musculoskeletal Modeling

Gupta

Semwal

2022

Preprint

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The paper deals with the development of 2-link lower limb extremity manipulator for rehabilitation purposes in bio-medical engineering. The musculoskeletal modeling was performed on the collected human gait data to obtain the joint angles and driving force values for hip and knee movement. The results obtained from the proposed controller were verified using Matlab-Simulink. The robust adaptive RBF neural network and fuzzy sliding mode controller were developed to track the desired trajectory. The OpenSim software was utilized to perform inverse kinematics and inverse dynamics on the musculoskeletal model which is scaled according to the physical dimensions of the experimental subject. The simulation results stated that SMC-RBF network has better tracking rate, less chattering problems and handle unknown uncertainties well. Finally, the results obtained were compared with the existing method with the help of performance index parameters to prove their effectiveness.

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Section: Overviewmentioning

confidence: 99%

“…Their performance was better when compared with traditional sliding mode control in terms of chattering and model uncertainties. The controllers are also used to designed prosthesis for amputees as done by Raheema et al [9]. The data is first collected by force plates and video camera which is then used to design the the control system.…”

Section: Related Workmentioning

confidence: 99%

Adaptive Neural & Fuzzy Controller for Exoskeleton Gait Pattern Control Based on Musculoskeletal Modeling

Gupta

Semwal

2022

Preprint

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“…Compared to conventional RISE control, the adaptive RISE control showed less tracking error and higher robustness. In [6], Mithaq et al presented position-to-force motion control design of knee-joint in active lower-limb prostheses. A hybrid controller is synthesized based on a PID controller in conjunction with ANFIS (adaptive neuro-fuzzy inference system).…”

Section: Introductionmentioning

confidence: 99%

Adaptive Synergetic Motion Control for Wearable Knee-Assistive System: A Rehabilitation of Disabled Patients

et al. 2022

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In this study, synergetic-based adaptive control design is developed for trajectory tracking control of joint position in knee-rehabilitation system. This system is often utilized for rehabilitation of patients with lower-limb disabilities. However, this knee-assistive system is subject to uncertainties when applied to different persons undertaking exercises. This is due to the different masses and inertias of different persons. In order to cope with these uncertainties, an adaptive scheme has been proposed. In this study, an adaptive synergetic control scheme is established, and control laws are developed to ensure stable knee exoskeleton system subjected to uncertainties in parameters. Based on Lyapunov stability analysis, the developed adaptive synergetic laws are used to estimate the potential uncertainties in the coefficients of the knee-assistive system. These developed control laws guarantee the stability of the knee rehabilitation system controlled by the adaptive synergetic controller. In this study, particle swarm optimization (PSO) algorithm is introduced to tune the design parameters of adaptive and non-adaptive synergetic controllers, in order to optimize their tracking performances by minimizing an error-cost function. Numerical simulations are conducted to show the effectiveness of the proposed synergetic controllers for tracking control of the exoskeleton knee system. The results show that compared to classical synergetic controllers, the adaptive synergetic controller can guarantee the boundedness of the estimated parameters and hence avoid drifting, which in turn ensures the stability of the controlled system in the presence of parameter uncertainties.

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Robust Adaptive Control of Knee Exoskeleton-Assistant System Based on Nonlinear Disturbance Observer

et al. 2022

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This study presents a control design of an angular position for the exoskeleton knee assistance system based on a model reference adaptive control (MRAC) strategy. Three schemes of the MRAC design have been proposed: the classical MRAC, MRAC with an adaptive disturbance observer, and MRAC with a nonlinear observer. The stability analysis for each scheme has been conducted and developed based on the Lyapunov theorem to prove the uniform ultimate bound of tracking and estimation errors. In addition, the adaptive laws have been developed for the proposed schemes according to the stability analysis. The effectiveness of the proposed state and output feedback controllers has been verified via computer simulation. The results based on numerical simulation have shown that the MRAC with a nonlinear observer could give better robustness characteristics and better performance in terms of tracking and estimation errors as compared to the other controllers.

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Design an intelligent hybrid position/force control for above knee prosthesis based on adaptive neuro-fuzzy inference system

Cited by 3 publications

References 23 publications

Adaptive Neural & Fuzzy Controller for Exoskeleton Gait Pattern Control Based on Musculoskeletal Modeling

Adaptive Neural & Fuzzy Controller for Exoskeleton Gait Pattern Control Based on Musculoskeletal Modeling

Adaptive Synergetic Motion Control for Wearable Knee-Assistive System: A Rehabilitation of Disabled Patients

Robust Adaptive Control of Knee Exoskeleton-Assistant System Based on Nonlinear Disturbance Observer

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