Offline ANN-PID Controller Tuning on a Multi-Joints Lower Limb Exoskeleton for Gait Rehabilitation

Offline ANN-PID Controller Tuning on a Multi-Joints Lower Limb Exoskeleton for Gait Rehabilitation

This paper presents Artificial Neural Network (ANN) as an optimization tool in tuning Proportional-Integral-Derivative (PID) controller’s gain of a multi-joints Lower Limb Exoskeleton (LLE) for gait rehabilitation. The interest in wearable post-stroke and spinal cord injury rehabilitation...

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Bibliographic Details
Main Authors: Karrar H. Al-Waeli, Rizauddin Ramli, Sallehuddin Mohamed Haris, Zuliani Binti Zulkoffli, Mohammad Soleimani Amiri
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Proportional-integral-derivative
Lower Limb Exoskeleton
Artificial Neural Network
Euler-Lagrange
Online Access:https://ieeexplore.ieee.org/document/9502690/

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