出版社：Academy & Industry Research Collaboration Center (AIRCC)
摘要：This paper presents studies in the design and control of single leg exoskeleton for hemiplegiamobility in simulation environment. The exoskeleton is designed to support the affected side ofthe hemiplegia patient while the other leg functions normally. Hip, knee and ankle joints forboth humanoid leg and exoskeleton of the affected side are controlled using PD-Fuzzy controlto obtain the required natural torque to allow the exoskeleton to compensate for the deficiencyin 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. Simulationresults show that the exoskeleton can support the humanoid with the required augmentationusing the proposed design and control.
