Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm

This paper presents a lower-limb exoskeleton that is actuated by pneumatic muscle actuators (PMAs). This exoskeleton system is composed of the mechanical structures, a treadmill, and a weight support system. With the cooperative work of the three parts, the system aims to assist either the elderly f...

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Veröffentlicht in:Robotica Jg. 37; H. 12; S. 2087 - 2103
Hauptverfasser: Cao, Yu, Huang, Jian, Huang, Zhangbo, Tu, Xikai, Mohammed, Samer
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Cambridge, UK Cambridge University Press 01.12.2019
Schlagworte:
Actuators
Algorithms
Computer Science
Cooperative work
Exoskeletons
Gait
Heuristic methods
Mathematical models
Muscles
Optimization
Parameters
Rehabilitation
Robotics
Sliding mode control
Support systems
Training
Treadmills
Walking
Switch-mode firefly algorithm
Proxy-based sliding-mode control
Lower-limb exoskeleton
Pneumatic muscle actuator
ISSN:0263-5747, 1469-8668
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Abstract This paper presents a lower-limb exoskeleton that is actuated by pneumatic muscle actuators (PMAs). This exoskeleton system is composed of the mechanical structures, a treadmill, and a weight support system. With the cooperative work of the three parts, the system aims to assist either the elderly for muscle strengthening by conducting walking activities or the stroke patients during a rehabilitation training program. A mechanism is developed to separate the PMAs from the wearer’s legs to reduce the subject’s physical exertion. Furthermore, considering the difficulty in the modeling of proposed PMAs-driven exoskeleton, a safe and model-free control strategy called proxy-based sliding mode control (PSMC) is used to ensure proper control of the exoskeleton. However, the favorable performances are strongly dependent on the appropriate control parameters, which may be difficult to obtain with blind tuning. Therefore, we propose a global parameters optimization algorithm called switch-mode firefly algorithm (SMFA) to automatically calculate the pre-defined object function and attain the most applicable parameters. Experimental studies are conducted, and the results show the effectiveness of the proposed method.
AbstractList This paper presents a lower-limb exoskeleton that is actuated by pneumatic muscle actuators (PMAs). This exoskeleton system is composed of the mechanical structures, a treadmill, and a weight support system. With the cooperative work of the three parts, the system aims to assist either the elderly for muscle strengthening by conducting walking activities or the stroke patients during a rehabilitation training program. A mechanism is developed to separate the PMAs from the wearer’s legs to reduce the subject’s physical exertion. Furthermore, considering the difficulty in the modeling of proposed PMAs-driven exoskeleton, a safe and model-free control strategy called proxy-based sliding mode control (PSMC) is used to ensure proper control of the exoskeleton. However, the favorable performances are strongly dependent on the appropriate control parameters, which may be difficult to obtain with blind tuning. Therefore, we propose a global parameters optimization algorithm called switch-mode firefly algorithm (SMFA) to automatically calculate the pre-defined object function and attain the most applicable parameters. Experimental studies are conducted, and the results show the effectiveness of the proposed method.
Author Cao, Yu
Tu, Xikai
Huang, Jian
Mohammed, Samer
Huang, Zhangbo
Author_xml – sequence: 1
  givenname: Yu
  orcidid: 0000-0002-3486-5518
  surname: Cao
  fullname: Cao, Yu
  email: cao_yu@hust.edu.cn
  organization: †The Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China. E-mails: cao_yu@hust.edu.cn, huang_zb@hust.edu.cn
– sequence: 2
  givenname: Jian
  orcidid: 0000-0002-6267-8824
  surname: Huang
  fullname: Huang, Jian
  email: huang_jan@mail.hust.edu.cn
  organization: †The Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China. E-mails: cao_yu@hust.edu.cn, huang_zb@hust.edu.cn
– sequence: 3
  givenname: Zhangbo
  surname: Huang
  fullname: Huang, Zhangbo
  email: cao_yu@hust.edu.cn
  organization: †The Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China. E-mails: cao_yu@hust.edu.cn, huang_zb@hust.edu.cn
– sequence: 4
  givenname: Xikai
  surname: Tu
  fullname: Tu, Xikai
  email: tuxikai@gmail.com
  organization: ‡School of Mechanical Engineering, Hubei University of Technology, Wuhan, China. E-mail: tuxikai@gmail.com
– sequence: 5
  givenname: Samer
  surname: Mohammed
  fullname: Mohammed, Samer
  email: samer.mohammed@u-pec.fr
  organization: ¶The Laboratory of Images, Signals and Intelligent Systems (LISSI), University Paris-Est Créteil (UPEC), 94400 Vitry Sur Seine, France. E-mail: samer.mohammed@u-pec.fr
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Keywords Switch-mode firefly algorithm
Proxy-based sliding-mode control
Lower-limb exoskeleton
Pneumatic muscle actuator
Language English
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Snippet This paper presents a lower-limb exoskeleton that is actuated by pneumatic muscle actuators (PMAs). This exoskeleton system is composed of the mechanical...
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StartPage 2087
SubjectTerms Actuators
Algorithms
Computer Science
Cooperative work
Exoskeletons
Gait
Heuristic methods
Mathematical models
Muscles
Optimization
Parameters
Rehabilitation
Robotics
Sliding mode control
Support systems
Training
Treadmills
Walking
Title Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm
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Volume 37
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