Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD

This paper presents the design of a prototype exoskeleton for lower extremities, in which a fuzzy PD controller is applied, this controller is implemented in Simulink, obtaining the trajectories of each joint in the human gait cycle; afterwards the design validation is performed with the software AN...

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Bibliographic Details
Published in2017 IEEE International Conference on Real-time Computing and Robotics (RCAR) pp. 392 - 397
Main Authors Arevalo, Luis Calle, Jaramillo, Paul Chacon, Pinos, Marco Amaya, Abad, Julio Zambrano, Campoverde, Rene Avila
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2017
Subjects
controller
cycle
exoskeleton
Exoskeletons
fuzzy PD
Hip
Mathematical model
PD control
Software packages
Static-dinamic
Stress
Trajectory
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Summary:This paper presents the design of a prototype exoskeleton for lower extremities, in which a fuzzy PD controller is applied, this controller is implemented in Simulink, obtaining the trajectories of each joint in the human gait cycle; afterwards the design validation is performed with the software ANSYS, through a pressure analysis based on the human body biomechanics during the gait cycle. The exoskeleton joints were provided with the angular trajectory generated by tracking the fuzzy controller in order to determine which is the element that supports more stress, with the purpose of determining the real values of strain and tension in the element by means of a convergence study, in a static state of the element. Finally, it is verified that the safety factor is within the allowed values to guarantee the safety of the patient when using the prototype.
DOI:10.1109/RCAR.2017.8311893