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Assistive Robot Design for Lower Limbs Rehabilitation Using Fuzzy Control

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Abstract

This paper proposed an assistive robot design for lower limbs rehabilitation using fuzzy control. A robot is developed to rejuvenate stroke patients’ nervous system of motor function by exercising their lower limb appropriately, to slow down motor function degradation, rebuild or strengthen the patient's motor function. Thus, the motion of robot must be driven from the sole of the patient and the shank of the patient must remain horizontal when knee joint is flexed. To achieve this target, discrete-time fuzzy control methodology has been used to design a controller for the stability of the robot system. Finally, the preliminary experimental results show the effectiveness of rehabilitation of the stroke patients using this assistive robot.

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Acknowledgements

The authors gratefully acknowledge the support from the Ministry of Economic Affair through the project of SBIR(1Z1080763), research grants from the Ministry of Health and Welfare (MOHW107-TDU-B-212-123006, MOHW108-TDU-B-212-133006), the Ministry of Science and Technology (MOST 105-2314-B-037-012-,109-2314-B-037-050-), the Kaohsiung Medical University Hospital ( KMUH105-5R66, KMUH107-7R83), the Kaohsiung Municipal Ta-Tung Hospital (kmtth-103-011), and the Regenerative Medicine and Cell Therapy Research Center in Kaohsiung Medical University (KMU-TC108A02-1)

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Authors and Affiliations

  1. Department of Research and Development, TOPU Co., Ltd, 15F., No.25, Zhongzheng 3rd Rd, Xinxing Dist, Kaohsiung City, Taiwan

    Yu-Chia Huang & Huiwen Hu

  2. Department of Vehicle Engineering, National Pingtung University of Science and Technology, Pingtung, Taiwan

    Huiwen Hu

  3. College of Medicine, Kaohsiung Medical University, No.100, Tzyou 1st Road, Kaohsiung, 807, Taiwan

    Chia-Hsin Chen & Yi-Jen Chen

  4. Department of Physical Medicine and Rehabilitation, Kaohsiung Medical University Hospital, Kaohsiung, Taiwan

    Chia-Hsin Chen, Yi-Jen Chen & Kai-Chiao Chi

  5. Regenerative Medicine and Cell Therapy Research Center, Kaohsiung Medical University, Kaohsiung, Taiwan

    Chia-Hsin Chen & Yi-Jen Chen

  6. Orthopaedic Research Center, Kaohsiung Medical University, Kaohsiung, Taiwan

    Chia-Hsin Chen & Yi-Jen Chen

  7. Department of Physical Medicine and Rehabilitation, Kaohsiung Municipal Siaogang Hospital, Kaohsiung, Taiwan

    Chia-Hsin Chen & Yi-Jen Chen

  8. Department of Physical Medicine and Rehabilitation, Kaohsiung Municipal Ta-Tung Hospital, Kaohsiung, Taiwan

    Chia-Hsin Chen

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  1. Yu-Chia Huang
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  2. Huiwen Hu
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  5. Kai-Chiao Chi
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Correspondence to Huiwen Hu or Chia-Hsin Chen.

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Huang, YC., Hu, H., Chen, CH. et al. Assistive Robot Design for Lower Limbs Rehabilitation Using Fuzzy Control. Int. J. Fuzzy Syst. 23, 2384–2395 (2021). https://doi.org/10.1007/s40815-021-01152-4

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  • DOI: https://doi.org/10.1007/s40815-021-01152-4

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