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Intelligent control of an MR prosthesis knee using of a hybrid self-organizing fuzzy controller and multidimensional wavelet NN
, Article Journal of Mechanical Science and Technology ; Volume 31, Issue 7 , 2017 , Pages 3509-3518 ; 1738494X (ISSN) ; Zareh, S. H ; Sharif University of Technology
Korean Society of Mechanical Engineers
2017
Abstract
A Magneto rheological (MR) rotary brake as a prosthesis knee is addressed here. To the gait of the amputee, the brake, automatically adapts knee damping coefficient using only local sensing of the knee torque and position. It is difficult to design a model-based controller, since the MR knee system has nonlinear and very complicated governing mathematical equations. Hence, a Hybrid self-organizing fuzzy controller and multidimensional wavelet neural network (HSFCMWNN) is proposed here to control the knee damping coefficient using of the inverse dynamics of the MR rotary damper. A Self-organizing fuzzy controller (SOFC) is also proposed and during the control process, the SOFC continually...