Fuzzy PID control for passive lower extremity exoskeleton in swing phase

In order to achieve synchronous walking between man and machine, in swing phase, fast and accurate response to human lower limb movement is the key of the control. This paper presents a fuzzy PID controller which uses fuzzy logic tuning PID controller parameters real-time. This paper established two degrees of freedom lower limb exoskeleton swing phase dynamics model and used ADAMS and Simulink co-simulation to verify the control method. The results of the simulation show that: fuzzy PID control exhibits a good transient and steady-state performance, and significantly reduces the man-machine interfacial force to achieve a human-machine synergy movement.