Frilled Lizard Optimization Based Fuzzy PD Control for Lower Limb Exoskeleton Rehabilitation Robots
Lower limb exoskeleton rehabilitation robots can assist patients in performing repetitive training tasks, alleviating the workload of therapists and improving rehabilitation effectiveness. To achieve the accurate tracking of predetermined reference trajectories, this paper presents a fuzzy proportional-derivative (PD) controller tailored for the lower limb exoskeleton rehabilitation robot. Moreover, the frilled lizard optimization (FLO) algorithm is employed to optimize the fuzzy PD controller, which is able to further enhance the tracking performance. Simulation results on the lower limb exoskeleton rehabilitation robot show the effectiveness of the proposed method.
Authors
- Zheming Wang (ORCID: https://orcid.org/0000-0002-5580-0385)
- Xicheng Yang
- Bo Chen (ORCID: https://orcid.org/0000-0002-1589-8082)
- Ruidong Cheng (ORCID: https://orcid.org/0000-0002-1476-6002)
- Ming Chen (ORCID: https://orcid.org/0000-0002-9677-1699)
- Xiaoxuan Fan (ORCID: https://orcid.org/0000-0002-4091-0717)
Institutions
- Hangzhou Medical College (CN)
- Zhejiang University of Technology (CN)
Publication Details
- Published
- 2025-07-04
- DOI
- https://doi.org/10.1109/fasta65681.2025.11138600
- Primary Topic
- Prosthetics and Rehabilitation Robotics
- Type
- article
- Field-Weighted Citation Impact
- 0.00