Adaptive fuzzy logic control for a robotic gait training orthosis

Mathur D. Bhatia D. Jamwal P.K. Hussain S. Ghayesh M.H.
2021 Inderscience Publishers

International Journal of Intelligent Systems Technologies and Applications
2021 #20 Issue 3 199 - 214 pp.

This paper aims to develop an adaptive control strategy for a fuzzy logic system for a robotic gait training orthosis whose design is bio-inspired from biomechanics of the human gait. Powerful yet light weight pneumatic muscle actuators (PMAs) fulfilled the ambulatory requirements of the robot while also providing the actuation required to create the sagittal plane rotations at the hip and knee. The PMA is controlled by a fuzzy logic controller based on Mamdani inference for obtaining the rotational degrees of freedom. To cope with the nonlinear behaviour of the PMA towards external disturbances, a second fuzzy-based controller was also developed. In order to compensate for time dependent characteristics of the PMA, an adaptive control mechanism was introduced. Experiments were conducted on healthy subjects for understanding and estimating the performance of the adaptive fuzzy logic controller and robotic design. The human-robot interaction was mainly passive-active, while the paths were predefined. Copyright

Adaptive fuzzy logic control , Gait training , Neurological impairments , PMA , Pneumatic muscle actuator , Robotic orthosis

Text of the article Перейти на текст статьи

Instrumentation Department, Government Polytechnic College, Rajasthan, Kota, India
Electronics Department, Rajasthan Technical University, Rajasthan, Kota, India
Department of Electrical and Electronics Engineering, Nazarbayev University, Astana, Kazakhstan
Department of Information Technology (IT) and Systems, University of Canberra, Australia
School of Mechanical Engineering, University of Adelaide, SA, Australia

Instrumentation Department
Electronics Department
Department of Electrical and Electronics Engineering
Department of Information Technology (IT) and Systems
School of Mechanical Engineering

10 лет помогаем публиковать статьи Международный издатель

Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026