Mathematical modeling and control of lower extremity exoskeleton

Tanyıldızı, Alper Kadir; Yakut, Oğuz; Taşar, Beyda

doi:10.4066/biomedicalresearch.29-18-509

Cited by 5 publications

(2 citation statements)

References 20 publications

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“…Reverse, for the telescopic connection, is a variable. The variable of i-th joint ( or ) is usually called the generalized coordinate of the robot executive mechanism [15][16][17][18].…”

Section: Resultsmentioning

confidence: 99%

Developing the Mathematical Model of the Bipedal Walking Robot Executive Mechanism

Issabekov¹,

Aldiyarov²

2021

IJACSA

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The paper considers the accuracy of footstep control in the vicinity of the application object. The methodology of forming a simulation of the executive electro-hydraulic servomechanism is developed. The paper presents control algorithms in the dynamic walking mode. The issues of stabilization of the sensors installed in the soles are investigated. The description of the laboratory model and simulation of the main links of the exoskeleton, approximated to human parameters, allowing to insert the studied algorithms of motion of the executive mechanism into the program of automation of calculations of the links of motion are given. The authors for the first time simulated the bipedal walking robot using modern digital technologies, including the joint use of pneumatic electric drive. This paper proposes an automated control scheme for manipulators controlling immobilized human limbs. Considering the functions of the leg and the phases of movement, the structure scheme is chosen so that the same actuator performs several functions. This construction partially reduces the load on the person, because the drives of the various links due to their gravity can overturn a person. Using the kinematic structure of the model and the method of adaptive control of the manipulator, as well as replacing some movement parts with plastic material, the authors were successful in reducing the total weight by three times compared with foreign analogues, which is important for a sick person.

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“…Reverse, for the telescopic connection, is a variable. The variable of i-th joint ( or ) is usually called the generalized coordinate of the robot executive mechanism [15][16][17][18].…”

Section: Resultsmentioning

confidence: 99%

Developing the Mathematical Model of the Bipedal Walking Robot Executive Mechanism

Issabekov¹,

Aldiyarov²

2021

IJACSA

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“…Tanyildizi et al [21] studied a new active PID control for 2-DoF LLE and a feedback controller using pressureforce sensors. They used a double-pendulum mechanism to demonstrate the human amplifier robot, which assists the healthy human low body movements.…”

Section: Introductionmentioning

confidence: 99%

Offline ANN-PID Controller Tuning on a Multi-Joints Lower Limb Exoskeleton for Gait Rehabilitation

et al. 2021

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This paper presents Artificial Neural Network (ANN) as an optimization tool in tuning Proportional-Integral-Derivative (PID) controller's gain of a multi-joints Lower Limb Exoskeleton (LLE) for gait rehabilitation. The interest in wearable post-stroke and spinal cord injury rehabilitation devices such as LLE has been increasing due to the demand for assistive technologies for paralyze patients and to meet the concerns in the increasing number of ageing society. The dynamic of three degree of freedom LLE was determined using Euler-Lagrange equation, and PID parameters were initially tuned using the Ziegler-Nichols (ZN) method. The paper compares different ANN-based algorithms in tuning PID controller's gain for LLE applications. The method compared and evaluated with other methods and dynamic systems in the literature. ANN-based algorithms, Gradient Descent, Levenberg-Marquardt, and Scaled Conjugate Gradient, are utilized for PID tuning of each joint in the LLE model. The result shows faster convergence and improves step response characteristics for each controlled joint model. The overshoot values found to be 0.3126%, 0.6335%, and 0.2619% compared to the ZN method with 10.5582%, 15.1643%, and 11.8511% for hip, knee, and ankle joints, respectively. It can be ascertained that the PID controlled of LLE has been optimally tuned significantly by different ANN methods, which reduced its steady-state errors.

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Electro-Stimulator for Limbs Strength Enhancement: An Innovative and Technological Review

Huamanchahua,

Velásquez-Villar,

Saldaña-Amézquita

et al. 2023

2023 IEEE Colombian Caribbean Conference (C3)

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Mathematical modeling and control of lower extremity exoskeleton

Cited by 5 publications

References 20 publications

Developing the Mathematical Model of the Bipedal Walking Robot Executive Mechanism

Developing the Mathematical Model of the Bipedal Walking Robot Executive Mechanism

Offline ANN-PID Controller Tuning on a Multi-Joints Lower Limb Exoskeleton for Gait Rehabilitation

Electro-Stimulator for Limbs Strength Enhancement: An Innovative and Technological Review

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