Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD

Luis Calle Arevalo; Paul Chacon Jaramillo; Marco Amaya Pinos; Julio Zambrano Abad; Rene Avila Campoverde

doi:10.1109/RCAR.2017.8311893

Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD

Luis Calle Arevalo, Paul Chacon Jaramillo, Marco Amaya Pinos, Julio Zambrano Abad, Rene Avila Campoverde

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents the design of a prototype exoskeleton for lower extremities, in which a fuzzy PD controller is applied, this controller is implemented in Simulink, obtaining the trajectories of each joint in the human gait cycle; afterwards the design validation is performed with the software ANSYS, through a pressure analysis based on the human body biomechanics during the gait cycle. The exoskeleton joints were provided with the angular trajectory generated by tracking the fuzzy controller in order to determine which is the element that supports more stress, with the purpose of determining the real values of strain and tension in the element by means of a convergence study, in a static state of the element. Finally, it is verified that the safety factor is within the allowed values to guarantee the safety of the patient when using the prototype.

Original language	English
Title of host publication	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	392-397
Number of pages	6
ISBN (Electronic)	9781538620342
DOIs	https://doi.org/10.1109/RCAR.2017.8311893
State	Published - 9 Mar 2018
Event	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 - Okinawa, Japan Duration: 14 Jul 2017 → 18 Jul 2017

Publication series

Name	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Volume	2017-July

Conference

Conference	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Country/Territory	Japan
City	Okinawa
Period	14/07/17 → 18/07/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

controller
cycle
exoskeleton
fuzzy PD
Static-dinamic

Access to Document

10.1109/RCAR.2017.8311893

Cite this

Arevalo, L. C., Jaramillo, P. C., Pinos, M. A., Abad, J. Z., & Campoverde, R. A. (2018). Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD. In 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 (pp. 392-397). (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017; Vol. 2017-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2017.8311893

Arevalo, Luis Calle ; Jaramillo, Paul Chacon ; Pinos, Marco Amaya et al. / Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD. 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 392-397 (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017).

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title = "Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD",

abstract = "This paper presents the design of a prototype exoskeleton for lower extremities, in which a fuzzy PD controller is applied, this controller is implemented in Simulink, obtaining the trajectories of each joint in the human gait cycle; afterwards the design validation is performed with the software ANSYS, through a pressure analysis based on the human body biomechanics during the gait cycle. The exoskeleton joints were provided with the angular trajectory generated by tracking the fuzzy controller in order to determine which is the element that supports more stress, with the purpose of determining the real values of strain and tension in the element by means of a convergence study, in a static state of the element. Finally, it is verified that the safety factor is within the allowed values to guarantee the safety of the patient when using the prototype.",

keywords = "controller, cycle, exoskeleton, fuzzy PD, Static-dinamic",

author = "Arevalo, {Luis Calle} and Jaramillo, {Paul Chacon} and Pinos, {Marco Amaya} and Abad, {Julio Zambrano} and Campoverde, {Rene Avila}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 ; Conference date: 14-07-2017 Through 18-07-2017",

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doi = "10.1109/RCAR.2017.8311893",

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Arevalo, LC, Jaramillo, PC, Pinos, MA , Abad, JZ & Campoverde, RA 2018, Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD. in 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017, vol. 2017-July, Institute of Electrical and Electronics Engineers Inc., pp. 392-397, 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017, Okinawa, Japan, 14/07/17. https://doi.org/10.1109/RCAR.2017.8311893

Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD. / Arevalo, Luis Calle; Jaramillo, Paul Chacon; Pinos, Marco Amaya et al.
2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 392-397 (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017; Vol. 2017-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Arevalo LC, Jaramillo PC, Pinos MA , Abad JZ , Campoverde RA. Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD. In 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 392-397. (2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017). doi: 10.1109/RCAR.2017.8311893

Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD

Abstract

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Bibliographical note

Keywords

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