Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping
The motivation for developing a rehabilitation lower-limb exoskeleton robot was to provide functional robot-assisted therapy for assisting physiotherapists in improving hemiplegic patients’ walking recovery. Rehabilitation tasks required robust and precise trajectory-tracking performance, mainly ach...
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| Format: | Article |
| Language: | English |
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Elsevier
2024-01-01
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| Series: | Journal of King Saud University: Computer and Information Sciences |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1319157823004548 |
| _version_ | 1797322459953758208 |
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| author | Mohammad Soleimani Amiri Rizauddin Ramli |
| author_facet | Mohammad Soleimani Amiri Rizauddin Ramli |
| author_sort | Mohammad Soleimani Amiri |
| collection | DOAJ |
| description | The motivation for developing a rehabilitation lower-limb exoskeleton robot was to provide functional robot-assisted therapy for assisting physiotherapists in improving hemiplegic patients’ walking recovery. Rehabilitation tasks required robust and precise trajectory-tracking performance, mainly achieved with exoskeleton robots. This paper presents a study on the gait trajectory cycles of a rehabilitation lower-limb exoskeleton robot controlled by an Admittance Swarm Initialized Adaptive (ASIA). The aim of this paper was to develop a robust adaptive controller integrated with admittance model to overcome human–robot interaction forces generated by the wearer. The parameters of the ASIA controller were efficiently initialized using swarm beetle antenna searching. An experiment was conducted on a prototype lower limb exoskeleton with four degrees of freedom, involving a healthy human subject for gait trajectory analysis. The results demonstrated the effectiveness of the proposed method in terms of control performance, steady-state error reduction, and robustness. The statistical analysis revealed that the ASIA performed 63 %, 53 % and 48 % less in average error compared to adaptive conventional controllers used in the same exoskeleton platform. The findings ascertained the potential of the ASIA controller in improving human mobility through lower limb exoskeleton applications. |
| first_indexed | 2024-03-08T05:14:39Z |
| format | Article |
| id | doaj.art-f62869b2491d48d9a39dec805b9ce6d2 |
| institution | Directory Open Access Journal |
| issn | 1319-1578 |
| language | English |
| last_indexed | 2024-03-08T05:14:39Z |
| publishDate | 2024-01-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Journal of King Saud University: Computer and Information Sciences |
| spelling | doaj.art-f62869b2491d48d9a39dec805b9ce6d22024-02-07T04:43:07ZengElsevierJournal of King Saud University: Computer and Information Sciences1319-15782024-01-01361101900Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shapingMohammad Soleimani Amiri0Rizauddin Ramli1Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia; Department of Manufacturing Engineering Technology, Faculty of Industrial and Manufacturing Technology and Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, MalaysiaDepartment of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia; Corresponding author.The motivation for developing a rehabilitation lower-limb exoskeleton robot was to provide functional robot-assisted therapy for assisting physiotherapists in improving hemiplegic patients’ walking recovery. Rehabilitation tasks required robust and precise trajectory-tracking performance, mainly achieved with exoskeleton robots. This paper presents a study on the gait trajectory cycles of a rehabilitation lower-limb exoskeleton robot controlled by an Admittance Swarm Initialized Adaptive (ASIA). The aim of this paper was to develop a robust adaptive controller integrated with admittance model to overcome human–robot interaction forces generated by the wearer. The parameters of the ASIA controller were efficiently initialized using swarm beetle antenna searching. An experiment was conducted on a prototype lower limb exoskeleton with four degrees of freedom, involving a healthy human subject for gait trajectory analysis. The results demonstrated the effectiveness of the proposed method in terms of control performance, steady-state error reduction, and robustness. The statistical analysis revealed that the ASIA performed 63 %, 53 % and 48 % less in average error compared to adaptive conventional controllers used in the same exoskeleton platform. The findings ascertained the potential of the ASIA controller in improving human mobility through lower limb exoskeleton applications.http://www.sciencedirect.com/science/article/pii/S1319157823004548Beetle antenna searchingAdaptive controllerAdmittance modelExoskeleton |
| spellingShingle | Mohammad Soleimani Amiri Rizauddin Ramli Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping Journal of King Saud University: Computer and Information Sciences Beetle antenna searching Adaptive controller Admittance model Exoskeleton |
| title | Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping |
| title_full | Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping |
| title_fullStr | Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping |
| title_full_unstemmed | Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping |
| title_short | Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping |
| title_sort | admittance swarm based adaptive controller for lower limb exoskeleton with gait trajectory shaping |
| topic | Beetle antenna searching Adaptive controller Admittance model Exoskeleton |
| url | http://www.sciencedirect.com/science/article/pii/S1319157823004548 |
| work_keys_str_mv | AT mohammadsoleimaniamiri admittanceswarmbasedadaptivecontrollerforlowerlimbexoskeletonwithgaittrajectoryshaping AT rizauddinramli admittanceswarmbasedadaptivecontrollerforlowerlimbexoskeletonwithgaittrajectoryshaping |