Approach to Gait Coordination: Adaptive Fuzzy Finite-Time Control of a Stochastic Prosthesis-Human Symbiosis with Intentional Delay

The generation of intentional delay in response to the stride frequency is seldom considered in prosthesis-human symbiosis. Unfortunately, such intentionally delayed human-robot interaction poses a new challenge to their gait coordination in stochastic environments. Utilizing fuzzy logic systems (FL...

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Published inIEEE transactions on fuzzy systems Vol. 31; no. 11; pp. 1 - 15
Main Authors Ma, Xin, Zhang, Xiaoxu, Fang, Hongbin, Xu, Jian
Format Journal Article
LanguageEnglish
Published New York IEEE 01.11.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
adaptive fuzzy finite-time control
Coordination
Delay
Delays
Fuzzy control
Fuzzy logic
fuzzy logic system (FLS)
Fuzzy systems
Gait
Human engineering
Human-robot interaction
intentional delay
Legged locomotion
Liapunov functions
Prostheses
Prosthetics
Robots
Statistical analysis
Stochastic processes
Stochastic prosthesis-human symbiosis
Symbiosis
Walking
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Abstract The generation of intentional delay in response to the stride frequency is seldom considered in prosthesis-human symbiosis. Unfortunately, such intentionally delayed human-robot interaction poses a new challenge to their gait coordination in stochastic environments. Utilizing fuzzy logic systems (FLSs), we investigate an adaptive fuzzy finite-time control of a stochastic prosthesis-human symbiosis with intentional delay to address this issue. Noting that the intentional delay is related to walking velocity, this work conducts experiments on ten healthy subjects to identify the intentional delays at different velocities using the FLS. Introducing the FLS-identified delay and contralateral healthy limb gaits, we propose a prosthetic gait planner to simultaneously determine the reference stride frequency and stride length, thus properly regulating the desired velocity. Considering the adverse effects of the required intentional delay and state constraints in the stochastic framework, we propose a new statistical Lyapunov-Krasovskii functional, together with a Tan-type barrier Lyapunov function. Correspondingly, an adaptive fuzzy controller is developed via a backstepping design, thus solving the semi-global finite-time stable in probability with intentional delay, unknown nonlinearities, and state constraints. Application studies validate the efficacy of the proposed approach. The results show that our approach can predict walking behavior while performing gait coordination.
AbstractList The generation of intentional delay in response to the stride frequency is seldom considered in prosthesis-human symbiosis. Unfortunately, such intentionally delayed human-robot interaction poses a new challenge to their gait coordination in stochastic environments. Utilizing fuzzy logic systems (FLSs), we investigate an adaptive fuzzy finite-time control of a stochastic prosthesis-human symbiosis with intentional delay to address this issue. Noting that the intentional delay is related to walking velocity, this work conducts experiments on ten healthy subjects to identify the intentional delays at different velocities using the FLS. Introducing the FLS-identified delay and contralateral healthy limb gaits, we propose a prosthetic gait planner to simultaneously determine the reference stride frequency and stride length, thus properly regulating the desired velocity. Considering the adverse effects of the required intentional delay and state constraints in the stochastic framework, we propose a new statistical Lyapunov-Krasovskii functional, together with a Tan-type barrier Lyapunov function. Correspondingly, an adaptive fuzzy controller is developed via a backstepping design, thus solving the semi-global finite-time stable in probability with intentional delay, unknown nonlinearities, and state constraints. Application studies validate the efficacy of the proposed approach. The results show that our approach can predict walking behavior while performing gait coordination.
The generation of intentional delay in response to the stride frequency is seldom considered in prosthesis-human symbiosis (PHS). Unfortunately, such intentionally delayed human-robot interaction poses a new challenge to their gait coordination (GC) in stochastic environments. Utilizing fuzzy logic systems (FLSs), we investigate an adaptive fuzzy finite-time control of a stochastic PHS with intentional delay to address this issue. Noting that the intentional delay is related to walking velocity, this article conducts experiments on ten healthy subjects to identify the intentional delays at different velocities using the FLS. Introducing the FLS-identified delay and contralateral healthy limb gaits, we propose a prosthetic gait planner to simultaneously determine the reference stride frequency and stride length, thus properly regulating the desired velocity. Considering the adverse effects of the required intentional delay and state constraints in the stochastic framework, we propose a new statistical Lyapunov–Krasovskii functional, together with a Tan-type barrier Lyapunov function. Correspondingly, an adaptive fuzzy controller is developed via a backstepping design, thus solving the semi-global finite-time stable in probability with intentional delay, unknown nonlinearities, and state constraints. Application studies validate the efficacy of the proposed approach. The results show that our approach can predict walking behavior while performing GC.
Author Zhang, Xiaoxu
Fang, Hongbin
Ma, Xin
Xu, Jian
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Snippet The generation of intentional delay in response to the stride frequency is seldom considered in prosthesis-human symbiosis. Unfortunately, such intentionally...
The generation of intentional delay in response to the stride frequency is seldom considered in prosthesis-human symbiosis (PHS). Unfortunately, such...
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SubjectTerms Adaptive control
adaptive fuzzy finite-time control
Coordination
Delay
Delays
Fuzzy control
Fuzzy logic
fuzzy logic system (FLS)
Fuzzy systems
Gait
Human engineering
Human-robot interaction
intentional delay
Legged locomotion
Liapunov functions
Prostheses
Prosthetics
Robots
Statistical analysis
Stochastic processes
Stochastic prosthesis-human symbiosis
Symbiosis
Walking
Title Approach to Gait Coordination: Adaptive Fuzzy Finite-Time Control of a Stochastic Prosthesis-Human Symbiosis with Intentional Delay
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