PD-Fuzzy Control of Single Lower Limb Exoskeleton for Hemiplegia Mobility


Abdullah K Alshatti1 and M. O. Tokhi2, 1University of Sheffield, United Kingdom and 2London South Bank University, United Kingdom


This paper presents studies in the design and control of single leg exoskeleton for hemiplegia mobility in simulation environment. The exoskeleton is designed to support the affected side of the hemiplegia patient while the other leg functions normally. Hip, knee and ankle joints for both humanoid leg and exoskeleton of the affected side are controlled using PD-Fuzzy control to obtain the required natural torque to allow the exoskeleton to compensate for the deficiency in affected leg to achieve normal symmetric gait. The controller is implemented in MATLAB, and the system behaviour observed in Visual Nastran 4D (VN4D) during simulation. Simulation results show that the exoskeleton can support the humanoid with the required augmentation using the proposed design and control.


Assistive robotics, Fuzzy logic control, Hemiplegia mobility.

Full Text  Volume 7, Number 10