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

dc.contributores-ES
dc.creatorFadlallah, Sulaiman O.
dc.creatorGoher, Khaled M.
dc.date2018-11-26
dc.date.accessioned2018-12-04T14:32:13Z
dc.date.available2018-12-04T14:32:13Z
dc.identifierhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1873
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/5790
dc.descriptionThe 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.formatapplication/pdf
dc.languagespa
dc.publisherUniversidad Tecnológica de Panamáes-ES
dc.relationhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1873/2819
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttps://creativecommons.org/licenses/by-nc-sa/4.0/
dc.sourceMemorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 25-35es-ES
dc.subjectHSDBC-OPTIMIZED;REHABILITATION DEVICEes-ES
dc.titleSystem identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation devicees-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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