Auto-tuning fuzzy force/position control of a 5 DOF exoskeleton for upper limb rehabilitation.
Abdelkrim AbaneMohamed GuiatniMohamed Amine AlouaneIsmail BenyahiaMouloud TairNoureddine AbabouPublished in: AIM (2017)
Keyphrases
- position control
- robotic manipulator
- control scheme
- control system
- force control
- closed loop
- feedback loop
- fuzzy controller
- control strategies
- robot arm
- fuzzy logic
- degrees of freedom
- end effector
- fuzzy sets
- impedance control
- pid controller
- membership functions
- dc motor
- robot manipulators
- fuzzy neural network
- robotic systems
- joint angles
- pi controller
- virtual reality
- dynamic model
- fuzzy rules
- inverse kinematics
- control strategy
- vision system
- fine tuned
- induction motor
- control architecture
- parameter tuning