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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución de conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas392-397
Número de páginas6
ISBN (versión digital)9781538620342
DOI
EstadoPublicada - 9 mar 2018
Evento2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 - Okinawa, Japón
Duración: 14 jul 201718 jul 2017

Serie de la publicación

Nombre2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Volumen2017-July

Conferencia

Conferencia2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
País/TerritorioJapón
CiudadOkinawa
Período14/07/1718/07/17

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Publisher Copyright:
© 2017 IEEE.

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