Title: The control of lower limb rehabilitation robot with multi-pose based on man-machine coupling and fuzzy PID

Authors: Xiaomei Kang

Addresses: School of Information and Engineering, Xi'an Fanyi University, Xi'an 710105, China

Abstract: In order to accurately control the joint displacement and joint angle of the lower limb rehabilitation robot, a control method for lower limb rehabilitation robot with multi-pose based on man-machine coupling and fuzzy PID is proposed. According to the theory of lower limb rehabilitation medicine, the human lower limb model is constructed. The FSR membrane pressure sensor is selected to obtain the man-machine contact force. Based on the man-machine coupling theory, the interaction requirements between the patient and the lower limb rehabilitation robot are analysed. The fuzzy PID controller is designed to control the lower limb rehabilitation robot with multi-pose on the basis of fuzzy rules to help the patient complete the rehabilitation training. The experimental results show that the proposed method can accurately control the joint displacement and joint angle of the lower limb rehabilitation robot, and has good positioning accuracy.

Keywords: man-machine coupling; fuzzy PID controller; lower limb rehabilitation robot with multi-posture; kinematic analysis; FSR membrane pressure sensor.

DOI: 10.1504/IJRIS.2023.136354

International Journal of Reasoning-based Intelligent Systems, 2023 Vol.15 No.3/4, pp.203 - 212

Received: 20 Jun 2022
Accepted: 22 Sep 2022
Published online: 31 Jan 2024 *

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