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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión 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 original	Inglés
Título de la publicación alojada	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	392-397
Número de páginas	6
ISBN (versión digital)	9781538620342
DOI	https://doi.org/10.1109/RCAR.2017.8311893
Estado	Publicada - 9 mar. 2018
Evento	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 - Okinawa, Japón Duración: 14 jul. 2017 → 18 jul. 2017

Serie de la publicación

Nombre	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Volumen	2017-July

Conferencia

Conferencia	2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
País/Territorio	Japón
Ciudad	Okinawa
Período	14/07/17 → 18/07/17

Nota bibliográfica

Publisher Copyright:
© 2017 IEEE.

Areas de Conocimiento del CACES

8315A Biomedicina
417A Electrónica, automatización y sonido

Acceder al documento

10.1109/RCAR.2017.8311893

Otros archivos y enlaces

https://www.scopus.com/pages/publications/85050661621

Citar esto

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. En 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).

@inproceedings{9acbbaffd1054deeaea36ac733473980,

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",

year = "2018",

month = mar,

day = "9",

doi = "10.1109/RCAR.2017.8311893",

language = "English",

series = "2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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address = "United States",

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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. En 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, Japón, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

TY - GEN

T1 - Static-dynamic analysis of a lower limb exoskeleton controlled by a fuzzy PD

AU - Arevalo, Luis Calle

AU - Jaramillo, Paul Chacon

AU - Pinos, Marco Amaya

AU - Abad, Julio Zambrano

AU - Campoverde, Rene Avila

PY - 2018/3/9

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N2 - 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.

AB - 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.

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KW - Static-dinamic

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BT - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017

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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. En 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

Resumen

Serie de la publicación

Conferencia

Nota bibliográfica

Areas de Conocimiento del CACES

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Otros archivos y enlaces

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