Research on Obstacle-Avoidance Control Algorithm of Lower Limbs Rehabilitation Robot Based on Fuzzy Control

摘要

The paper proposes an obstacle-avoidance control algorithm based on the fuzzy matching of obstacle environment. The algorithm is mainly used in the obstacle-avoidance control of omni directional lower limbs rehabilitation robot. The method generates the eigen value of obstacle environment using detected angle information of obstacle boundary, and fuzzy matches with the known environment information to realize the obstacle-avoidance control of robot. The design of obstacle-avoidance control enhances the patient safety and decreases the environment using demand. This paper proves the feasibility and effectiveness of the obstacle-avoidance algorithm through theoretical derivation and simulation results.