Effective control for an upper-body exoskeleton robot using ANFIS

Jian Bin Huang; Kuu-Young Young; Chun Hsu Ko

doi:10.1109/ICSSE.2016.7551595

Effective control for an upper-body exoskeleton robot using ANFIS

Jian Bin Huang, Kuu-Young Young^*, Chun Hsu Ko

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In responding to the coming of an aging society, the exoskeleton robot is of focus, which provides assistance for people with locomotive problems. As the exoskeleton robot is worn by the user, the interaction in between induces several severe challenges, including adequate controller design. To deal with the nonlinearity involved during motion governing, in this paper, we take advantage of the capability of the adaptive network-based fuzzy inference system (ANFIS), and propose an ANFIS-PID controller for the exoskeleton type of robot. Especially, we apply it to a 2-DOF upper-body exoskeleton robot, HAMEXO-I, developed in our laboratory. With the proposed controller, we intend to let HAMEXO-I adaptable for a wide range of users, and able to serve for simple daily activities. Experiments are performed to demonstrate its effectiveness.

Original language	English
Title of host publication	2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781467389662
DOIs	https://doi.org/10.1109/ICSSE.2016.7551595
State	Published - 24 Aug 2016
Event	2016 IEEE International Conference on System Science and Engineering, ICSSE 2016 - Puli, Taiwan Duration: 7 Jul 2016 → 9 Jul 2016

Publication series

Name	2016 IEEE International Conference on System Science and Engineering, ICSSE 2016

Conference

Conference	2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
Country/Territory	Taiwan
City	Puli
Period	7/07/16 → 9/07/16

Keywords

ANFIS
Controller design
Exoskeleton robot

Access to Document

10.1109/ICSSE.2016.7551595

Cite this

Huang, J. B., Young, K.-Y., & Ko, C. H. (2016). Effective control for an upper-body exoskeleton robot using ANFIS. In 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016 Article 7551595 (2016 IEEE International Conference on System Science and Engineering, ICSSE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSSE.2016.7551595

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title = "Effective control for an upper-body exoskeleton robot using ANFIS",

abstract = "In responding to the coming of an aging society, the exoskeleton robot is of focus, which provides assistance for people with locomotive problems. As the exoskeleton robot is worn by the user, the interaction in between induces several severe challenges, including adequate controller design. To deal with the nonlinearity involved during motion governing, in this paper, we take advantage of the capability of the adaptive network-based fuzzy inference system (ANFIS), and propose an ANFIS-PID controller for the exoskeleton type of robot. Especially, we apply it to a 2-DOF upper-body exoskeleton robot, HAMEXO-I, developed in our laboratory. With the proposed controller, we intend to let HAMEXO-I adaptable for a wide range of users, and able to serve for simple daily activities. Experiments are performed to demonstrate its effectiveness.",

keywords = "ANFIS, Controller design, Exoskeleton robot",

author = "Huang, {Jian Bin} and Kuu-Young Young and Ko, {Chun Hsu}",

year = "2016",

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Huang, JB, Young, K-Y & Ko, CH 2016, Effective control for an upper-body exoskeleton robot using ANFIS. in 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016., 7551595, 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016, Institute of Electrical and Electronics Engineers Inc., 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016, Puli, Taiwan, 7/07/16. https://doi.org/10.1109/ICSSE.2016.7551595

Effective control for an upper-body exoskeleton robot using ANFIS. / Huang, Jian Bin; Young, Kuu-Young; Ko, Chun Hsu.
2016 IEEE International Conference on System Science and Engineering, ICSSE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7551595 (2016 IEEE International Conference on System Science and Engineering, ICSSE 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Effective control for an upper-body exoskeleton robot using ANFIS

AU - Huang, Jian Bin

AU - Young, Kuu-Young

AU - Ko, Chun Hsu

PY - 2016/8/24

Y1 - 2016/8/24

N2 - In responding to the coming of an aging society, the exoskeleton robot is of focus, which provides assistance for people with locomotive problems. As the exoskeleton robot is worn by the user, the interaction in between induces several severe challenges, including adequate controller design. To deal with the nonlinearity involved during motion governing, in this paper, we take advantage of the capability of the adaptive network-based fuzzy inference system (ANFIS), and propose an ANFIS-PID controller for the exoskeleton type of robot. Especially, we apply it to a 2-DOF upper-body exoskeleton robot, HAMEXO-I, developed in our laboratory. With the proposed controller, we intend to let HAMEXO-I adaptable for a wide range of users, and able to serve for simple daily activities. Experiments are performed to demonstrate its effectiveness.

AB - In responding to the coming of an aging society, the exoskeleton robot is of focus, which provides assistance for people with locomotive problems. As the exoskeleton robot is worn by the user, the interaction in between induces several severe challenges, including adequate controller design. To deal with the nonlinearity involved during motion governing, in this paper, we take advantage of the capability of the adaptive network-based fuzzy inference system (ANFIS), and propose an ANFIS-PID controller for the exoskeleton type of robot. Especially, we apply it to a 2-DOF upper-body exoskeleton robot, HAMEXO-I, developed in our laboratory. With the proposed controller, we intend to let HAMEXO-I adaptable for a wide range of users, and able to serve for simple daily activities. Experiments are performed to demonstrate its effectiveness.

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KW - Exoskeleton robot

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Effective control for an upper-body exoskeleton robot using ANFIS

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