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Intelligent control of powered exoskeleton to assist paraplegic patients mobility using hybrid neuro-fuzzy ANFIS approach

Ghafari, A. S ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1109/ROBIO.2006.340297
  3. Publisher: 2006
  4. Abstract:
  5. Integrating humans and robotics technology into one system offers multiple opportunities for creating assistive technologies that can be employed in biomechanical, industrial, and aerospace applications. The present study deals with employing the adaptive neuro-fuzzy inference system (ANFIS) approach in rule base derivation for powered exoskeleton intelligent control to assist paraplegic patient mobility. By employing the hybrid learning algorithm, optimal distributed membership functions to describe the mapping relation in the input and output parameters of the gait cycle were derived. As the proposed control strategy was unaffected by changing human dynamics, the reliability and robustness of the controller for safe interaction with humans were increased. ©2006 IEEE
  6. Keywords:
  7. Adaptive control systems ; Automation ; Biomechanics ; Biomimetics ; Conformal mapping ; Control theory ; Describing functions ; Function evaluation ; Fuzzy control ; Fuzzy inference ; Fuzzy logic ; Fuzzy systems ; Intelligent control ; Learning algorithms ; Learning systems ; Membership functions ; Robotics ; Robots ; Robust control ; Robustness (control systems) ; (min ,max ,+) functions ; Adaptive Neuro-Fuzzy Inference System (ANFIS) ; Assistive technology (AT) ; Control strategies ; Gait cycles ; Human dynamics ; Hybrid learning algorithms ; Input and output (I/O) ; International conferences ; Mapping relation ; Neuro fuzzy (NF) ; Paraplegic patients ; Patient mobility ; Reliability and robustness ; Robotics technology ; Rule base (IF THEN) ; Military data processing
  8. Source: 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, 17 December 2006 through 20 December 2006 ; 2006 , Pages 733-738 ; 1424405718 (ISBN); 9781424405718 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/4141956