System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device

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Sulaiman O. Fadlallah
Khaled M. Goher
Enviado: Nov 26, 2018
Publicado: Nov 26, 2018

Resumen

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.

Palabras clave

HSDBC-OPTIMIZED, REHABILITATION DEVICE

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Cómo citar
Fadlallah, S., & Goher, K. (2018). System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device. Memorias De Congresos UTP, 1(1), 25-35. Recuperado a partir de http://revistas.utp.ac.pa/index.php/memoutp/article/view/1873