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Design and Implementation of a Multi-Objective Controller for a Home-Based Balance Training Device
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
Each year from %30 to %60 of the elderlies fall down. %10 to %20 of these incidents result in severe injuries. Aging along with stroke can possibly damage body balance system temporarily or permanently. Therefore, human body balance system improvement and treatment seems necessary. Physical therapy methods relying on assistance require not only physiotherapist presence, but also considerable amount of money and time for both patient and physician. Thus, novel rehabilitation methods that do not require physiotherapist presence can help patients greatly. To do so, an apparatus has been designed that— using force plate— enables mass center detection as well as visual report to patient. The...
A supervisory fuzzy-PID controller for a MIMO biped robot balance in frontal plane
, Article 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 2 , 2009 , Pages 307-314 ; 9780791848630 (ISBN) ; Haghshenas Jaryani, M ; Farahmand, F ; Sharif University of Technology
2009
Abstract
In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its...