Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra
Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can des...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2021/8538787 |
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| _version_ | 1832550991592947712 |
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| author | Cuifeng Qin Zuojun Liu |
| author_facet | Cuifeng Qin Zuojun Liu |
| author_sort | Cuifeng Qin |
| collection | DOAJ |
| description | Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance. |
| format | Article |
| id | doaj-art-95b68d7d1f104f3f85fe3bdde63d2c20 |
| institution | Kabale University |
| issn | 1607-887X |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-95b68d7d1f104f3f85fe3bdde63d2c202025-02-03T06:05:12ZengWileyDiscrete Dynamics in Nature and Society1607-887X2021-01-01202110.1155/2021/8538787Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus AlgebraCuifeng Qin0Zuojun Liu1School of Artificial IntelligenceSchool of Artificial IntelligenceMax-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.http://dx.doi.org/10.1155/2021/8538787 |
| spellingShingle | Cuifeng Qin Zuojun Liu Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra Discrete Dynamics in Nature and Society |
| title | Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra |
| title_full | Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra |
| title_fullStr | Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra |
| title_full_unstemmed | Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra |
| title_short | Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra |
| title_sort | motion modeling and control of lower limb exoskeleton based on max plus algebra |
| url | http://dx.doi.org/10.1155/2021/8538787 |
| work_keys_str_mv | AT cuifengqin motionmodelingandcontroloflowerlimbexoskeletonbasedonmaxplusalgebra AT zuojunliu motionmodelingandcontroloflowerlimbexoskeletonbasedonmaxplusalgebra |