n ankle injury can happen frequently regardless of age and sex, its severity may range from simple to very tough conditions leading to total malfunctioning of the joint hindering mobility in day to day life. And for patients suffering from stroke and severe accidents, it is difficult to rally easily. Clinical treatment for this problem needs the active involvement of a physiotherapist which is tedious and tiring resulting in early fatigue and inadequate output. Most of the robot-assisted rehabilitation programs involve conventional rigid robots, which have good robustness and input signal tracking. However, they are rigid, heavy, and stationery which makes them difficult for in house treatment. Soft robotics has become an active research area due to their compliance with the natural anatomy, volume to weight ratio, and overall compatibility. However, the difficulties for controlling soft robots have remained a challenge for employing soft wearable robots for clinical applications. In this reseach work, we have designed a fuzzy-based nonlinear PID controller with tracking differentiators, and a higher-order sliding mode controllers which can maintain robustness in the presence of a disturbance signal. One problem in robot assisted rehabilitation applications is considering the pain signal during exercise. We have developed a simple innovative way to take pain signals for control action, the patient is actively involved by feeding the pain signal to the controller. The pain signal will be characterized into predefined categories from the physiotherapist’s knowledge, a fuzzy controller is developed to generate reference force output for the controller from pain feedback and rate of change of muscle elongation. The developed controller can track the input trajectory with zero overshoot, zero steady-state error, settling time of 0.15sec, and rise time of 0.19sec. The developed models were simulated in Matlab Simulink and Simscape’s physical modeling environment


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    Title :

    Design and Simulation of Fuzzy Based Nonlinear-PID and Sliding Mode Controller for Ankle Rehabilitation Soft Wearable Robot


    Contributors:

    Publication date :

    2020-02-07


    Remarks:

    doi:10.20372/nadre/19764



    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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