System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device

Sulaiman O. Fadlallah; Khaled M. Goher

System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018
Editors	Hector Montes, Mohammad Osman Tokhi, Gurvinder S. Virk, Manuel Armada, Humberto Rodriguez, Roemi Fernandez, Pablo Gonzalez de Santos, Victor Sanchez, Manuel F. Silva
Publisher	CLAWAR Association Ltd
Pages	25-35
Number of pages	11
ISBN (Electronic)	9781916449008
Publication status	Published - 1 Nov 2018
Externally published	Yes
Event	Robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Panama City, Panama Duration: 10 Sep 2018 → 12 Sep 2018

Conference

Conference	Robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Abbreviated title	CLAWAR 2018
Country/Territory	Panama
City	Panama City
Period	10/09/18 → 12/09/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

https://clawar.org/wp-content/uploads/2020/08/CLAWAR_2018_paper_1.pdfLicence: Unspecified

Cite this

Fadlallah, S. O., & Goher, K. M. (2018). System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device. In H. Montes, M. O. Tokhi, G. S. Virk, M. Armada, H. Rodriguez, R. Fernandez, P. Gonzalez de Santos, V. Sanchez, & M. F. Silva (Eds.), Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018 (pp. 25-35). CLAWAR Association Ltd. https://clawar.org/wp-content/uploads/2020/08/CLAWAR_2018_paper_1.pdf

Fadlallah, Sulaiman O. ; Goher, Khaled M. / System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device. Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018. editor / Hector Montes ; Mohammad Osman Tokhi ; Gurvinder S. Virk ; Manuel Armada ; Humberto Rodriguez ; Roemi Fernandez ; Pablo Gonzalez de Santos ; Victor Sanchez ; Manuel F. Silva. CLAWAR Association Ltd, 2018. pp. 25-35

@inproceedings{0da3ae18c0c04bcda3787c8c4eacb712,

title = "System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device",

abstract = "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.",

keywords = "Biochemistry, Robotics, Mobile robots",

author = "Fadlallah, {Sulaiman O.} and Goher, {Khaled M.}",

year = "2018",

month = nov,

day = "1",

language = "English",

pages = "25--35",

editor = "Hector Montes and Tokhi, {Mohammad Osman} and Virk, {Gurvinder S.} and Manuel Armada and Humberto Rodriguez and Roemi Fernandez and {Gonzalez de Santos}, Pablo and Victor Sanchez and Silva, {Manuel F.}",

booktitle = "Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018",

publisher = "CLAWAR Association Ltd",

address = "United Kingdom",

note = "Robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018 ; Conference date: 10-09-2018 Through 12-09-2018",

}

Fadlallah, SO & Goher, KM 2018, System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device. in H Montes, MO Tokhi, GS Virk, M Armada, H Rodriguez, R Fernandez, P Gonzalez de Santos, V Sanchez & MF Silva (eds), Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018. CLAWAR Association Ltd, pp. 25-35, Robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Panama City, Panama, 10/09/18. <https://clawar.org/wp-content/uploads/2020/08/CLAWAR_2018_paper_1.pdf>

System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device. / Fadlallah, Sulaiman O.; Goher, Khaled M.

Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018. ed. / Hector Montes; Mohammad Osman Tokhi; Gurvinder S. Virk; Manuel Armada; Humberto Rodriguez; Roemi Fernandez; Pablo Gonzalez de Santos; Victor Sanchez; Manuel F. Silva. CLAWAR Association Ltd, 2018. p. 25-35.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device

AU - Fadlallah, Sulaiman O.

AU - Goher, Khaled M.

PY - 2018/11/1

Y1 - 2018/11/1

N2 - 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.

AB - 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.

KW - Biochemistry

KW - Robotics

KW - Mobile robots

UR - http://www.scopus.com/inward/record.url?scp=85071779865&partnerID=8YFLogxK

UR - https://clawar.org/conference-proceedings/clawar-conference/clawar-2018-proceedings/

M3 - Conference contribution

AN - SCOPUS:85071779865

SP - 25

EP - 35

BT - Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018

A2 - Montes, Hector

A2 - Tokhi, Mohammad Osman

A2 - Virk, Gurvinder S.

A2 - Armada, Manuel

A2 - Rodriguez, Humberto

A2 - Fernandez, Roemi

A2 - Gonzalez de Santos, Pablo

A2 - Sanchez, Victor

A2 - Silva, Manuel F.

PB - CLAWAR Association Ltd

T2 - Robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Y2 - 10 September 2018 through 12 September 2018

ER -

Fadlallah SO, Goher KM. System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device. In Montes H, Tokhi MO, Virk GS, Armada M, Rodriguez H, Fernandez R, Gonzalez de Santos P, Sanchez V, Silva MF, editors, Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018. CLAWAR Association Ltd. 2018. p. 25-35

System Identification and HSDBC-Optimized PID Control of a Portable Lower-Limb Rehabilitation Device

Abstract

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UN SDGs

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