TY - GEN
T1 - Incremental PI-like Fuzzy Logic Control of a Vacuum-Powered Artificial Muscle for Soft Exoskeletons
AU - Centeno, Esteban
AU - Mendoza, Mijail Jaen
AU - Pinedo, Cesar F.
AU - Kim, Wangdo
AU - Roche, Ellen
AU - Vela, Emir A.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Newborns with lower limb motor deficiencies do need rehabilitation. Soft exoskeletons based on soft artificial muscles are promising for this purpose. However, the highly non-linear dynamic behavior of their system makes very difficult to obtain an accurate model to be controlled. This paper proposes to use a free-model method called Incremental PI-Like Fuzzy logic controller (PI-Like FLC). This variation facilitates the design and interpretation of the fuzzy rules; furthermore, we were capable of using optimization algorithms and fuzzy-C-means to obtain the fuzzy sets and membership functions based on data obtained from a previously tuned PID controller. The PI-Like FLC was physically implemented on infant dummies of 0 and 6 months of age to control the knee flexion-extension motion, and a PID was used as a comparison. The results demonstrate a successful tracking control and exhibit robustness against parametric uncertainties and disturbances for both dummies' motion without the need of tuning the controller.
AB - Newborns with lower limb motor deficiencies do need rehabilitation. Soft exoskeletons based on soft artificial muscles are promising for this purpose. However, the highly non-linear dynamic behavior of their system makes very difficult to obtain an accurate model to be controlled. This paper proposes to use a free-model method called Incremental PI-Like Fuzzy logic controller (PI-Like FLC). This variation facilitates the design and interpretation of the fuzzy rules; furthermore, we were capable of using optimization algorithms and fuzzy-C-means to obtain the fuzzy sets and membership functions based on data obtained from a previously tuned PID controller. The PI-Like FLC was physically implemented on infant dummies of 0 and 6 months of age to control the knee flexion-extension motion, and a PID was used as a comparison. The results demonstrate a successful tracking control and exhibit robustness against parametric uncertainties and disturbances for both dummies' motion without the need of tuning the controller.
UR - http://www.scopus.com/inward/record.url?scp=85166979835&partnerID=8YFLogxK
U2 - 10.1109/ARSO56563.2023.10187413
DO - 10.1109/ARSO56563.2023.10187413
M3 - Conference contribution
AN - SCOPUS:85166979835
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 53
EP - 58
BT - 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023
PB - IEEE Computer Society
T2 - 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023
Y2 - 5 June 2023 through 7 June 2023
ER -