{"title":"减轻上肢重量的外骨骼控制设计","authors":"Siti Khadijah Ali, M. Tokhi","doi":"10.1109/INCAE.2018.8579374","DOIUrl":null,"url":null,"abstract":"One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the objective of this paper is to investigate development of a control strategy for the upper-limb exoskeleton. In this paper, a new control mechanism for an upper-limb exoskeleton is proposed. A fuzzy-based PD controller and PID are used in the proposed control mechanism, and a comparative assessment of the performance of both controllers is made. The results show that the control mechanism with fuzzy-based PD controller performs better than the PID controller in terms of trajectory tracking accuracy and control torque analysis.","PeriodicalId":387859,"journal":{"name":"2018 International Conference on Applied Engineering (ICAE)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Control Design of a De-Weighting Upper Limb Exoskeleton\",\"authors\":\"Siti Khadijah Ali, M. Tokhi\",\"doi\":\"10.1109/INCAE.2018.8579374\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the objective of this paper is to investigate development of a control strategy for the upper-limb exoskeleton. In this paper, a new control mechanism for an upper-limb exoskeleton is proposed. A fuzzy-based PD controller and PID are used in the proposed control mechanism, and a comparative assessment of the performance of both controllers is made. The results show that the control mechanism with fuzzy-based PD controller performs better than the PID controller in terms of trajectory tracking accuracy and control torque analysis.\",\"PeriodicalId\":387859,\"journal\":{\"name\":\"2018 International Conference on Applied Engineering (ICAE)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 International Conference on Applied Engineering (ICAE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INCAE.2018.8579374\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Conference on Applied Engineering (ICAE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INCAE.2018.8579374","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control Design of a De-Weighting Upper Limb Exoskeleton
One of the most common problems in humans is a muscle fatigue. Exoskeletons are known as one of the solution to deal with human muscle fatigue. However, several issues related to the development of exoskeletons for such a case have been identified. One of these is the control mechanism. Thus, the objective of this paper is to investigate development of a control strategy for the upper-limb exoskeleton. In this paper, a new control mechanism for an upper-limb exoskeleton is proposed. A fuzzy-based PD controller and PID are used in the proposed control mechanism, and a comparative assessment of the performance of both controllers is made. The results show that the control mechanism with fuzzy-based PD controller performs better than the PID controller in terms of trajectory tracking accuracy and control torque analysis.