Study on the Fuzzy Control Algorithm for Knee Exoskeleton Based on Co-simulation

A new type of knee joint exoskeleton, which consists of mechanical structure and a hydraulic damper, is described in this paper, the knee joint rotation is driven by the hydraulic damper. Firstly, on the basis of the exoskeleton mechanical structure, the working principle of exoskeleton were introduced, and the spring parameters of hydraulic dampers were selected by ADAMS software. Secondly, the assemble of exoskeleton and human model is imported into the ADAMS software for simulation. After building the control model in MATLAB software, the co-simulation of MATLAB and ADAMS software is carried out. In order to verify the effect of the fuzzy PID algorithm, the fuzzy PID algorithm is compared with the PID. By modifying the algorithm parameters, it is find that the fuzzy control algorithm has better following effect, which can make the wearer’s gait characteristics closer to the standard gait. The simulation results show that the fuzzy PID algorithm has a better control effect in this kind of exoskeleton.

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