Fuzzy PID control of lower limb exoskeleton for elderly mobility

Abstract

This paper presents investigations into the development of an assistive device for elderly mobility. An exoskeleton is designed as an assistive device, to enhance the lower extremity and provide supporting torque to augment the torque of hip and knee during the walking cycle. A humanoid and actuated exoskeleton frame are designed in solid works and then imported to Visual Nastran 4D virtual environment. Fuzzy PID Control algorithm uses to control the actuated exoskeleton. Simulated walking tasks are performed with a humanoid wearing the exoskeleton. It is assumed that the humanoid representing an elderly person, is able to provide 60% of the whole torque required to complete the gait cycle, and the assistive device providing 40% of the overall torque.