Experimental Study on the Fuzzy-Pid Hybrid Control Algorithm for Unloading System in Mechatronic Device for Gait Re-Education

Abstract

In the article, the control system dedicated to the unit responsible for the patient unloading, which is one of the components of the mechatronic device for gait reeducation will be discussed and experimentally verified. The control algorithm of the unloading system should guarantee an expected constant value of the unloading force, regardless of the position and direction of the patient movement.The article presents a solutions in which the hybrid control algorithm based on fuzzy logic coupled with PID controller has been implemented. The optimization of parameters for regulators was conducted based on numerical simulations in which the walk of a patient through a step was analyzed. The experimental results show that the proposed control algorithm realized the primary goal (rapid reaction to the changes of the unloading force values) very well.