System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device

Fadlallah, Sulaiman O.; Goher, Khaled M.

dc.contributor		es-ES
dc.creator	Fadlallah, Sulaiman O.
dc.creator	Goher, Khaled M.
dc.date	2018-11-26
dc.date.accessioned	2018-12-04T14:32:13Z
dc.date.available	2018-12-04T14:32:13Z
dc.identifier	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1873
dc.identifier.uri	http://ridda2.utp.ac.pa/handle/123456789/5790
dc.description	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.	es-ES
dc.format	application/pdf
dc.language	spa
dc.publisher	Universidad Tecnológica de Panamá	es-ES
dc.relation	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1873/2819
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	https://creativecommons.org/licenses/by-nc-sa/4.0/
dc.source	Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 25-35	es-ES
dc.subject	HSDBC-OPTIMIZED;REHABILITATION DEVICE	es-ES
dc.title	System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device	es-ES
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion

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2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
CLAWAR 2018: 21st International Conference. Panama City, Panama during 10 – 12 September 2018.

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