Abstract
This paper presents investigations into paraplegic mobility with crutches using fuzzy logic control techniques. The Visual Nastran software is used to develop a humanoid model using existing anthropometric data. The humanoid model is integrated with Matlab/ Simulink for analysis and control purposes. Finite state control is used to determine the gait phase, and PD like fuzzy logic control is used to trigger the relative torque moments for active joints. The results show that the technique can be employed to control paraplegic gait with crutches.
Original language | English |
---|---|
Title of host publication | Mobile Robotics |
Subtitle of host publication | Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 |
Editors | O. Tosun, M. O. Tokhi, G. S. Virk, H. L. Akin |
Publisher | World Scientific Publishing |
Pages | 1137-1144 |
Number of pages | 8 |
ISBN (Print) | 9814291269, 9789814291262 |
Publication status | Published - 1 Dec 2010 |
Externally published | Yes |
Event | 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Istanbul, Turkey Duration: 9 Sept 2009 → 11 Sept 2009 Conference number: 12 |
Publication series
Name | Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 |
---|
Conference
Conference | 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines |
---|---|
Abbreviated title | CLAWAR 2009 |
Country/Territory | Turkey |
City | Istanbul |
Period | 9/09/09 → 11/09/09 |
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction