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

fYear

2010

fDate

14-18 Dec. 2010

Firstpage

1680

Lastpage

1685

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-9319-7

Type

conf

DOI

10.1109/ROBIO.2010.5723583

Filename

5723583