Fuzzy-PI Controller of a Soft Knee Exoskeleton for the Knee Flexion-Extension of a Baby Dummy's Legs

Gonzales G.; Centeno E.; Vela E.A.; Cruz S. · IEEE Andescon, ANDESCON 2024 - Proceedings (2024) · DOI: 10.1109/andescon61840.2024.10755693

Resumen

New studies suggest that soft exoskeletons can be effective in the therapy of infants with motor disabilities, espe-cially in the first months of life. In this article, we present the preliminary control of a soft exoskeleton that can perform the flexion-extension motion of the knees of a dummy in a prone position, which simulates a 6-month-old baby. Soft exoskeleton is made of cotton fabric and is powered by vacuum-powered artificial muscle (VPAM). A Fuzzy-PI controller is developed based on the designer's expertise for passive rehabilitation of both legs of the dummy. Preliminary experiments are conducted to demonstrate the effectiveness of the proposed control strategy. Additionally, to evaluate the robustness of the controller, several experiments are performed in which additional masses are added to each leg of the dummy.

Instituciones: Universidad Peruana Cayetano Heredia; Universidad Nacional de Ingeniería; Universidad de Ingeniería y Tecnología