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

Al-Waeli, Karrar H.; Ramli, Rizauddin; Haris, Sallehuddin Mohamed; Zulkoffli, Zuliani; Amiri, Mohammad Soleimani

doi:10.1109/access.2021.3101576

Cited by 15 publications

(5 citation statements)

References 32 publications

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“…The performance of PID depends on the accuracy of the model and parameters of the system, and soft computing techniques are used to overcome its drawbacks Nimbalkar et al (2015). Different techniques have been developed to tune the parameters of different control systems Patel and Chaphekar (2012), including an Artificial Neural Network-based approach for tuning PID parameters Al-Waeli et al (2021).…”

Section: The Tracking Trajectory-based Control Methodsmentioning

confidence: 99%

Development of gait rehabilitation devices: a review of the literature

Al-Waeli

Ramli

Haris

et al. 2023

Mechanical Engineering Journal

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A "Stroke" is a neurological disease due to poor blood flowing to the brain, resulting in body cell death. It is ranked second as the most common cause of death globally. The "World Health Organization" estimates that about 15 million people suffer a stroke annually. Most stroke survivors have gait disorders, and most patients cannot walk without assistance. Physiotherapy is crucial for stroke patients to recover and maintain their mobility, functionality, and well-being. In the last 20 years, the replacement of physiotherapists with wearable robotics has become essential due to the developing technology, the need for economic growth, and the challenging health circumstances around the world, such as the COVID-19 pandemic recently. Lower Limb Exoskeleton (LLE) represents the solution for stroke patients under such circumstances, though its performance is a critical challenge paid attention to in the industry. This challenge has motivated the researchers to investigate the application of gait rehabilitation. This review presents and discusses the developments in the control system of LLE over the last decade. It also explores the limitations, new directions, and recommendations in LLE development according to the literature.

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Section: The Tracking Trajectory-based Control Methodsmentioning

confidence: 99%

Development of gait rehabilitation devices: a review of the literature

Al-Waeli

Ramli

Haris

et al. 2023

Mechanical Engineering Journal

Self Cite

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“…where ω is set to π, and f t and f s are random disturbances ranging from 0 to 10 N. Considering the Ziegler-Nichols method [39], K p and K d can be obtained:…”

Section: Simulationsmentioning

confidence: 99%

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

Yu,

Leto,

Bai

2023

Machines

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In the development of assistive lower-limb exoskeletons, both exoskeleton design, and gait control are critical for their successful applications. This paper introduces an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The development of the ALEXO including mechanical design, sensors and gait control is described. The exoskeleton adopts a hierarchical control. A 2-link model is built for dynamic analysis and lower-level control purposes. A trajectory tracking control method based on the computed torque control is proposed, in which physical interaction between the exoskeleton and the user is included. Simulations were conducted for different levels of interaction forces to verify the feasibility of the gait control. Moreover, walking trials of a healthy subject were performed, with muscle activities measured through EMG systems. Both simulation and system test results demonstrated the effectiveness of the developed exoskeleton with the proposed control method for walking assistance.

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“…The derivative part can amplify the noise present in the system and can effect the system performance. In [22] the PID controller was to design lower limb exoskeleton where artificial neural network was utilized to tune controller parameters. Similarly [21] proposed a model for upper limb robotic arm exoskeleton RAX-1.…”

Section: Related Workmentioning

confidence: 99%

Adaptive Neural & Fuzzy Controller for Exoskeleton Gait Pattern Control Based on Musculoskeletal Modeling

Gupta

Semwal

2022

Preprint

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The paper deals with the development of 2-link lower limb extremity manipulator for rehabilitation purposes in bio-medical engineering. The musculoskeletal modeling was performed on the collected human gait data to obtain the joint angles and driving force values for hip and knee movement. The results obtained from the proposed controller were verified using Matlab-Simulink. The robust adaptive RBF neural network and fuzzy sliding mode controller were developed to track the desired trajectory. The OpenSim software was utilized to perform inverse kinematics and inverse dynamics on the musculoskeletal model which is scaled according to the physical dimensions of the experimental subject. The simulation results stated that SMC-RBF network has better tracking rate, less chattering problems and handle unknown uncertainties well. Finally, the results obtained were compared with the existing method with the help of performance index parameters to prove their effectiveness.

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

Cited by 15 publications

References 32 publications

Development of gait rehabilitation devices: a review of the literature

Development of gait rehabilitation devices: a review of the literature

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

Adaptive Neural & Fuzzy Controller for Exoskeleton Gait Pattern Control Based on Musculoskeletal Modeling

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