Control of a New Cycling Rehabilitation Robot Based on Fuzzy PID

For completing the standardized rehabilitation training of the affected limb based on the lower limb rehabilitation training robot system, it is designed that a lower limb rehabilitation robot control system based on fuzzy PID control method to realize stable and accurate control of the rehabilitati...

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Bibliographic Details
Published in:Journal of physics. Conference series 2020-09, Vol.1622 (1), p.12119
Main Authors: Jiang, Dawei, Shi, Guoquan, Pang, Zaixiang, Li, Shuang, Tian, Yuan
Format: Article
Language:English
Subjects:
Control methods
Control systems
Fuzzy control
Human motion
Knee
Physics
Proportional integral derivative
Rehabilitation
Rehabilitation robots
Robot control
Robots
Training
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Summary:For completing the standardized rehabilitation training of the affected limb based on the lower limb rehabilitation training robot system, it is designed that a lower limb rehabilitation robot control system based on fuzzy PID control method to realize stable and accurate control of the rehabilitation training process. First of all, this paper analyzes the ranges of motion of human hip and knees, and a single degree of freedom lower limb rehabilitation training robot system based on the belt transmission principle is designed. Then the fuzzy PID control is analyzed. And the Matlab is used to simulate the passive rehabilitation mode of the lower limb rehabilitation training robot system under different control strategies. The designed rehabilitation training test shows that the control system of the lower limb rehabilitation robot based on the fuzzy PID control method has a small speed overshoot, high control accuracy and smoother operation.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1622/1/012119