Sharif Digital Repository

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... 

A novel hybrid algorithm based on a genetic algorithm and particle swarm optimization to design a fuzzy neural network, named self-organizing fuzzy neural network based on GA and PSO (SOFNNGAPSO), to implement Takagi-Sugeno (TS) type fuzzy models is proposed in this paper. The proposed algorithm, as a new hybrid algorithm, consists of two phases. A tuning based on TS's fuzzy model is applied to identify the fuzzy structure, and also a fuzzy cluster validity index is utilized to determine the optimal number of clusters. To obtain a more precision model, GA and PSO are performed to conduct fine tuning for the obtained parameter set of the premise parts and consequent parts in the...