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  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018
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System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device

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Author
Fadlallah, Sulaiman O.
Goher, Khaled M.
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Abstract
The present paper introduces a novel portable leg rehabilitation system (PLRS) that is developed to provide the user with the necessary rehabilitation exercises for both the knee and ankle in addition to the portability feature to overcome the hardships associated with both effort and cost of hospitals and rehabilitation clinics’ steady sessions. Prior realizing the actual prototype, the proposed configuration was visualized using SolidWorks including its main components. Aiming to control the developed system, and given the fact that tuning controller parameters is not an easy task, Hybrid Spiral-Dynamics Bacteria-Chemotaxis (HSDBC) algorithm has been applied on the proposed control strategy in order to obtain a satisfactory performance. The obtained system performance was satisfactory in terms of desired elevation and settling time.
URL
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1873
URI
http://ridda2.utp.ac.pa/handle/123456789/5790
Collections
  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
License
info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/4.0/

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Recolectado por:

El OAI de este repositorio: http://ridda2.utp.ac.pa/oai/
Repositorio Institucional de Documentos Digitales de Acceso Abierto de la Universidad de Tecnológica de Panamá.
Este repositorio utiliza la Licencia CC BY-NC-SA y funciona bajo DSpace.

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Universidad Tecnológica de Panamá