Yang Li and Xiaorong Guan and Cheng Xu
Optimization of the Control Scheme for Human Extremity Exoskeleton
440 - 446
2017
11
2
International Journal of Mechanical and Materials Engineering
https://publications.waset.org/pdf/10007015
https://publications.waset.org/vol/122
World Academy of Science, Engineering and Technology
In order to design a suitable control scheme for human extremity exoskeleton, the interaction force control scheme with traditional PI controller was presented, and the simulation study of the electromechanical system of the human extremity exoskeleton was carried out by using a MATLABSimulink module. By analyzing the simulation calculation results, it was shown that the traditional PI controller is not very suitable for every movement speed of human body. So, at last the fuzzy selfadaptive PI controller was presented to solve this problem. Eventually, the superiority and feasibility of the fuzzy selfadaptive PI controller was proved by the simulation results and experimental results.
Open Science Index 122, 2017