Exoskeleton robot modeling and Fuzzy Logic Control

Abstract

In this paper is obtained the mathematical model of an exoskeleton robot, which provides movements in hip and knee, unlike others where only works with the hip joint, allowing to the user with some paraplegia, continuing interacting in the environment without any limitation (stand and walk again). As well as their equations of kinematics and dynamics obtained from the Denavit-Hertenberg (D-H) parameters and Lagrange-Euler respectively, in the same way, the control algorithm is presented using Fuzzy Logic Control, where is shown an extended base rule than shown in similar control applications where is applied to an exoskeleton of upper limb, obtaining improving system responsiveness. The effectiveness of the fuzzy Logic Control is demonstrated with the results obtained in MatLab Simulink, which is presented and analyzed in this paper using the average height in Mexico (1.64 m.).