Motion control for a multiple input rehabilitation wearable exoskeleton using fuzzy logic and PID

Abstract

The increasing aging and disabled population has necessitated for a more effective and efficient assistance and rehabilitation. Powered Exoskeletons are wearable robots that can be attached to the disabled limb with the goal of adding power to and rectifying the limb functionality. This research proposes an EMG-based upper limb exoskeleton that is built on a fuzzy controller with incorporation of a torque estimation correction technique to improve the fuzzy system estimation. The Exoskeleton is built with an interactive gaming interface to engage the patients in the rehabilitation process where the interface can be preset on medical supervision for different training patterns. The motion control of multiple input rehabilitation wearable exoskeleton using fuzzy logic and PID is discussed in the paper.