Title :
Flexible ILC based intelligent prosthesis expert control system
Author :
Qiang Zhang ; Zuo-Jun Liu ; Zhi-gang Li ; Peng Yang
Author_Institution :
Sch. of Control Sci. & Eng., Hebei Univ. of Technol., Tianjin, China
Abstract :
Intelligent prosthesis is a self-regulated robotic joint system. Iterative learning controller, ILC, is used to build up a decision-making expert system according to the repetition and periodicity in the motion of human prosthesis system. The historical data is used in ILC for optima control effect. As small error margin is permitted in prosthesis control, so the motion of human can be divided into several sets, and a flexible ILC is proposed to solve the random error in human motion. The simulation and experiment show the ideal control effect in the intelligent prosthesis system based on F-ILC.
Keywords :
decision making; expert systems; iterative methods; learning systems; medical robotics; prosthetics; ILC; Iterative learning controller; decision-making expert system; human motion; intelligent prosthesis expert control system; self-regulated robotic joint system; Control systems; Expert systems; Humans; Joints; Prosthetics; Robots; Expert System; Flexible; Intelligent Prosthesis; Iterative Learning Control; Robotic Joint;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723583
