Abstract
Different models of controllers has proven to be feasible for specific tasks in equipment designed for people with physical disabilities, this paper presents and evaluates the design and simulation of a fuzzy controller for a Magneto-Rheological damper embarked on a Prosthetic Leg Mechanics. As additionally, it was characterized the behavior of the damper in a fuzzy inference system to evaluate its behavior within the proposed control system. The ultimate goal of the control is to decrease the force exerted by the knee; which is used to the full dynamic range of the Magnetorheological Damper (MRD). The extraction of fuzzy rules for the controller used the behavior of the angle of the knee, the knee strength and percentage of gait and for extracting rules were considered MRD damper characteristics of the dynamic response as the strength, the power and the speed of the piston.
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Valencia, C.H., Vellasco, M., Tanscheit, R., Figueiredo, K.T. (2015). Magnetorheological Damper Control in a Leg Prosthesis Mechanical. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_73
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DOI: https://doi.org/10.1007/978-3-319-16841-8_73
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
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