Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Autor:	Cuifeng Qin, Zuojun Liu
Rok vydání:	2021
Předmět:	Sequence Finite-state machine Gait (human) Article Subject Computer science Control theory Modeling and Simulation QA1-939 Process (computing) Ideal (order theory) Max-plus algebra Mathematics Exoskeleton
Zdroj:	Discrete Dynamics in Nature and Society, Vol 2021 (2021)
ISSN:	1607-887X 1026-0226
Popis:	Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7f282e123596855ce960d0cef36965f8 https://doi.org/10.1155/2021/8538787 Zobrazit plný text záznamu Plný text ve formátu PDF