Research on obstacle-avoidance control algorithm of lower limbs rehabilitation robot based on fuzzy control

Authors:
Hongche Guo;Cheng Cao;Junyou Yang;Qiuhao Zhang
Affiliations:
School of Electrical Engineering, Shenyang University of Technology, Shenyang, China;School of Electrical Engineering, Shenyang University of Technology, Shenyang, China;School of Electrical Engineering, Shenyang University of Technology, Shenyang, China;School of Electrical Engineering, Shenyang University of Technology, Shenyang, China
Venue:
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 4
Year:
2009

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Abstract

The paper proposes an obstacle-avoidance control algorithm based on the fuzzy matching of obstacle environment. The algorithm is mainly used in the obstacleavoidance control of omnidirectional Lower Limbs Rehabilitation Robot. The method generates the eigenvalue of obstacle environment using detected angle information of obstacle boundary, and fuzzy matches with the known environment information to realize the obstacle-avoidance control of robot. The design of obstacle-avoidance control enhances the patient safety and decreases the environment using demand. This paper proves the feasibility and effectiveness of the obstacle-avoidance algorithm through theoretical derivation and simulation results.