Abstract

Active exoskeleton controllers are designed to control the interaction force. Compliant exoskeletons need to be controlled in both position and force due to the coupling with a human in all rehabilitation conditions, which give rise to human-exoskeleton interaction dynamics, high nonlinear uncertain exoskeleton dynamics, noisy sensors and other parametric uncertainties, such as environmental contacts. These factors do not allow to account on a precise dynamical model, thus model-based controllers are difficult to implement. This paper presents an auto-tuning force/position controller based on fuzzy inference system to control a previously designed five degrees of freedom upper limb exoskeleton. The exoskeleton control system aims to achieve the best control performances together with stability and safety guarantees.

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