دورية أكاديمية
Balancing Control of AIT Leg Exoskeleton Using ZMP based FLC
| العنوان: | Balancing Control of AIT Leg Exoskeleton Using ZMP based FLC |
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| المؤلفون: | Narong Aphiratsakun, Manukid Parnichkun |
| المصدر: | International Journal of Advanced Robotic Systems, Vol 6, Iss 4 (2010) |
| بيانات النشر: | SAGE Publishing, 2010. |
| سنة النشر: | 2010 |
| المجموعة: | LCC:Electronics LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | ALEX-I, Exoskeleton, ZMP, GCP, Fuzzy Logic Control., Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | This paper is focused on the use of Zero Moment Point (ZMP) concept for balancing control of the Asian Institute of Technology Leg EXoskeleton-I (ALEX-I). ALEX-I has been developed to assist patients who suffer from paraplegia or immobility due to the loss of power on lower limbs. The balanced posture set-points (joint trajectories) under ZMP criterion are generated offline. The ZMP based set points are provided as the desired postures to ALEX-I. Fuzzy Logic Controller (FLC) determines the modified set points based on postures balancing sensed by loadcells. Ground Contact Point (GCP) is used to find the \"ZMP-like in real time\". GCP data is obtained by placing 4 loadcells forming a force plate on each foot of ALEX-I. This GCP data is then compared with the reference ZMP. Uncertainties of the model parameters, backlash, and joint tolerance are considered as disturbance. The differences of ZMP and GCP on x-z plane are used as the inputs to the FLC. The 4 outputs from FLC are the compensated angles of left and right ankles joints in roll and pitch axes that make the actual ZMP locate in the convex hull of the supporting area. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1729-8806 1729-8814 |
| Relation: | http://www.intechopen.com/articles/show/title/balancing-control-of-ait-leg-exoskeleton-using-zmp-based-flc; https://doaj.org/toc/1729-8806; https://doaj.org/toc/1729-8814 |
| URL الوصول: | https://doaj.org/article/e3f98b3d105144aba91d8d0150943981 |
| رقم الأكسشن: | edsdoj.3f98b3d105144aba91d8d0150943981 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 17298806 17298814 |
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