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This study deals with a position controller of the four rotor flying robot using a fuzzy controller. In recent years, the flying robot has been developed to be used in various fields such as dangerous field, disaster field and so on. We also have already developed the flying robot with four rotors. However it was difficult to control the position when the wind is blowing. The reason is uncertainty of the model. In case of the traditional linear and nonlinear controller methods, these methods rely on an accurate model of the dynamics and do not address disturbance rejection explicitly. So the environment model changes constantly, and equation of motion can't be expressed. Thus we use a fuzzy controller method that can compensate for model uncertainty. We aim to confirm the effectiveness of fuzzy control, two controllers that are PD controller and fuzzy controller were designed and implemented to control a simulation model of the flying robot. Their simulation results prove the efficiency of the fuzzy controller for flying robot.

In the current study, we tested a prototype of an isokinetic exercise device for the lower limbs, named the ERIK. The ERIK enables a type of single-limb squat exercise with a translational load on the swing leg in a closed kinetic chain, putting load on the muscles of the stance leg in the standing position. This training applies load to the gluteal muscles, which is effective for avoiding excessive knee valgus moment, a major factor in anterior cruciate ligament injuries. To enhance the quality of the load, an electro-rheological (ER) fluid brake system is implemented in the ERIK. The ER brake can reversibly control resistive torque with a rapid response. This paper reports a prototype of the device with four training modes, verifying its performance through basic experiments. Although high resistance is created within a wide motion area and requires isokinetic training by controlling the velocity of the trainee's legs, the ERIK has the advantage of a high level of safety because of its passive resistive function.