A Novel Method for Designing Motion Profiles Based on a Fuzzy Logic Algorithm Using the Hip Joint Angles of a Lower-Limb Exoskeleton Robot

Autor: Yoon Su Baek, Buchun Song, Sang Yong Park, Dongyoung Lee
Jazyk: angličtina
Rok vydání: 2020
Předmět:
0209 industrial biotechnology
Computer science
exoskeleton robot
Fuzzy set
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
02 engineering and technology
Knee Joint
lcsh:Technology
Fuzzy logic
Defuzzification
real-time motion profiles
Computer Science::Robotics
lcsh:Chemistry
020901 industrial engineering & automation
electro-hydraulic actuator (EHA)
General Materials Science
Computer vision
lcsh:QH301-705.5
Instrumentation
Fluid Flow and Transfer Processes
Basis (linear algebra)
lcsh:T
business.industry
Process Chemistry and Technology
General Engineering
021001 nanoscience & nanotechnology
lcsh:QC1-999
Computer Science Applications
Exoskeleton
lcsh:Biology (General)
lcsh:QD1-999
lcsh:TA1-2040
Robot
Artificial intelligence
weighted fuzzy logic algorithm
lcsh:Engineering (General). Civil engineering (General)
0210 nano-technology
Actuator
business
lcsh:Physics
Zdroj: Applied Sciences
Volume 10
Issue 19
Applied Sciences, Vol 10, Iss 6852, p 6852 (2020)
ISSN: 2076-3417
DOI: 10.3390/app10196852
Popis: In this study, a novel method for designing real-time motion profiles based on a weighted fuzzy logic algorithm for an exoskeleton robot was proposed. When developing exoskeleton robots, it is important that they can identify a wearer&rsquo
s motion intent in real time
therefore, we produced the motion profiles of an exoskeleton robot knee joint angles using hip joint angles and plantar pressure sensors. Two types of sensors were used to design the robot&rsquo
s knee estimation angle profiles in real time&mdash
namely, hip joint angles to design the fuzzy logic algorithm and plantar pressure sensors to classify the robot&rsquo
s gait phase. In the fuzzy set, four fuzzy inputs were produced through the hip joint angles
then, four fuzzy outputs were implemented based on the fuzzy inputs using 68 predefined rule bases in the fuzzy inference. The fuzzy outputs were used as the basis for calculating the motion profiles during the defuzzification. To adjust the knee angle of the robot, the weighted values were assigned to each hip joint angle section. To validate the proposed algorithm, we conducted two experiments&mdash
namely, the exoskeleton robot with and without an actuator. The method was verified through experiments showing that the motion profiles estimated the robot&rsquo
s knee angles close to the desired angles.
Databáze: OpenAIRE