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

Sulaiman O. Fadlallah, Khaled M. Goher

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-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 languageEnglish
Title of host publicationRobotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018
EditorsHector Montes, Mohammad Osman Tokhi, Gurvinder S. Virk, Manuel Armada, Humberto Rodriguez, Roemi Fernandez, Pablo Gonzalez de Santos, Victor Sanchez, Manuel F. Silva
PublisherCLAWAR Association Ltd, UK
Pages25-35
Number of pages11
ISBN (Electronic)9781916449008
Publication statusPublished - 1 Nov 2018
Externally publishedYes
EventRobotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Panama City, Panama
Duration: 10 Sep 201812 Sep 2018

Conference

ConferenceRobotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Abbreviated titleCLAWAR 2018
CountryPanama
CityPanama City
Period10/09/1812/09/18

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