System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device

Fadlallah, Sulaiman and Goher, Khaled (2018) System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device. In: Robotics. World Scientfic. ISBN UNSPECIFIED

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System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device

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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.

Keywords:Leg rehabilitation, Assistive devices, HSDBC Optimization, PID, Control, System Identification
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Engineering
ID Code:34108
Deposited On:14 Nov 2018 10:45

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