Effective control for an upper-body exoskeleton robot using ANFIS

Jian Bin Huang, Kuu-Young Young*, Chun Hsu Ko

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

In responding to the coming of an aging society, the exoskeleton robot is of focus, which provides assistance for people with locomotive problems. As the exoskeleton robot is worn by the user, the interaction in between induces several severe challenges, including adequate controller design. To deal with the nonlinearity involved during motion governing, in this paper, we take advantage of the capability of the adaptive network-based fuzzy inference system (ANFIS), and propose an ANFIS-PID controller for the exoskeleton type of robot. Especially, we apply it to a 2-DOF upper-body exoskeleton robot, HAMEXO-I, developed in our laboratory. With the proposed controller, we intend to let HAMEXO-I adaptable for a wide range of users, and able to serve for simple daily activities. Experiments are performed to demonstrate its effectiveness.

Original languageEnglish
Title of host publication2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781467389662
DOIs
StatePublished - 24 Aug 2016
Event2016 IEEE International Conference on System Science and Engineering, ICSSE 2016 - Puli, Taiwan
Duration: 7 Jul 20169 Jul 2016

Publication series

Name2016 IEEE International Conference on System Science and Engineering, ICSSE 2016

Conference

Conference2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
CountryTaiwan
CityPuli
Period7/07/169/07/16

Keywords

  • ANFIS
  • Controller design
  • Exoskeleton robot

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