Adaptive neuro-fuzzy control based development of a wearable exoskeleton leg for human walking power augmentation

In this paper, a wearable exoskeleton leg conceived and designed to augment human´s walking ability is proposed. The ultimate goal of this project is to provide an insight into the methodology of designing and controlling a power assist system, which integrates human´s intellect as the central control system for manipulating the wearable anthropomorphic device. The whole process of design, construction and control of a prototype experimental exoskeleton is presented; the feasibility and performance of the novel ANFIS (adaptive-network-based fuzzy inference system) based control algorithm are studied followed by the conclusion as well as an outline of anticipated future research