Incremental PI-like Fuzzy Logic Control of a Vacuum-Powered Artificial Muscle for Soft Exoskeletons

Esteban Centeno, Mijail Jaen Mendoza, Cesar F. Pinedo, Wangdo Kim, Ellen Roche, Emir A. Vela

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023
EditorialIEEE Computer Society
Páginas53-58
Número de páginas6
ISBN (versión digital)9781665464246
DOI
EstadoPublicada - 2023
Evento2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023 - Berlin, Alemania
Duración: 5 jun. 20237 jun. 2023

Serie de la publicación

NombreProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volumen2023-June
ISSN (versión impresa)2162-7568
ISSN (versión digital)2162-7576

Conferencia

Conferencia2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023
País/TerritorioAlemania
CiudadBerlin
Período5/06/237/06/23

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