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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Vydané v:Robotica Ročník 37; číslo 12; s. 2087 - 2103
Hlavní autori: Cao, Yu, Huang, Jian, Huang, Zhangbo, Tu, Xikai, Mohammed, Samer
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Cambridge, UK Cambridge University Press 01.12.2019
Predmet:
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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Shrnutí: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.
Bibliografia:ObjectType-Article-1
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574719000511