Modelling of extended de-weight fuzzy control for an upper-limb exoskeleton
| Autor: | Masnida Hussin, M. Sukri Hadi, M. Osman Tokhi, Siti Khadijah Ali |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Computer science
fuzzy-based de-weight lcsh:Mechanical engineering and machinery Mechanical Engineering PID controller 02 engineering and technology Fuzzy control system 01 natural sciences Fuzzy logic Exoskeleton upper-limb exoskeleton 020303 mechanical engineering & transports extended fuzzy-based de-weight 0203 mechanical engineering Control theory 0103 physical sciences fatigue upper arm Torque Overhead (computing) Robot lcsh:TJ1-1570 General Materials Science 010301 acoustics |
| Zdroj: | Journal of Vibroengineering, Vol 23, Iss 2, Pp 459-470 (2020) |
| ISSN: | 2538-8460 1392-8716 |
| DOI: | 10.21595/jve.2020.21481 |
| Popis: | Performing heavy physical tasks, overhead work and long working hours are some examples of activities that can lead to musculoskeletal problems in humans. To overcome this issue, automated robots such as the upper-limb exoskeleton is used to assist humans while performing tasks. However, several concerns in developing the exoskeleton have been raised such as the control strategies used. In this study, a control strategy known as the extended de-weight fuzz was proposed to ensure that the exoskeleton could be maneuvered to the desired position with the least number of errors and minimum torque requirement. The extended de-weight fuzzy is a combination of the fuzzy-based PD and fuzzy-based de-weight controller systems. The extended de-weight fuzzy was then compared with the fuzzy-based PD and PID controllers, and the performances of these controllers were compared in terms of their deviations and required torques to perform tasks. The findings show that the proposed control strategy performs better than the fuzzy-based PD and PID controller systems. |
| Databáze: | OpenAIRE |
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