Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can des...

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Autores principales:	Cuifeng Qin, Zuojun Liu
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/95b68d7d1f104f3f85fe3bdde63d2c20
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id	oai:doaj.org-article:95b68d7d1f104f3f85fe3bdde63d2c20
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spelling	oai:doaj.org-article:95b68d7d1f104f3f85fe3bdde63d2c202021-11-15T01:19:14ZMotion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra1607-887X10.1155/2021/8538787https://doaj.org/article/95b68d7d1f104f3f85fe3bdde63d2c202021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/8538787https://doaj.org/toc/1607-887XMax-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.Cuifeng QinZuojun LiuHindawi LimitedarticleMathematicsQA1-939ENDiscrete Dynamics in Nature and Society, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Mathematics QA1-939
spellingShingle	Mathematics QA1-939 Cuifeng Qin Zuojun Liu Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra
description	Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.
format	article
author	Cuifeng Qin Zuojun Liu
author_facet	Cuifeng Qin Zuojun Liu
author_sort	Cuifeng Qin
title	Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra
title_short	Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra
title_full	Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra
title_fullStr	Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra
title_full_unstemmed	Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra
title_sort	motion modeling and control of lower limb exoskeleton based on max-plus algebra
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/95b68d7d1f104f3f85fe3bdde63d2c20
work_keys_str_mv	AT cuifengqin motionmodelingandcontroloflowerlimbexoskeletonbasedonmaxplusalgebra AT zuojunliu motionmodelingandcontroloflowerlimbexoskeletonbasedonmaxplusalgebra
_version_	1718428997462786048

Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

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