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Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients

Wearable robots have become increasingly significant in rehabilitation treatments aimed at improving patients suffering from walking gait abnormalities. The effectiveness of these robots depends on their ability to accurately track trajectories. This paper proposes a hybrid technique for tuning a PI...

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Main Authors: Annisa, Jamali, M. A., Zulkifli, M. N., Leman, Shahrol, Mohamaddan, Helmy, Hazmi
Format: Proceeding
Language:English
Published: 2024
Subjects:
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
Online Access:http://ir.unimas.my/id/eprint/46304/1/Optimizing%20PID-Based.pdf
http://ir.unimas.my/id/eprint/46304/
https://ieeexplore.ieee.org/document/10675530
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record_format eprints
spelling my.unimas.ir-463042024-10-15T01:32:49Z http://ir.unimas.my/id/eprint/46304/ Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients Annisa, Jamali M. A., Zulkifli M. N., Leman Shahrol, Mohamaddan Helmy, Hazmi TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery Wearable robots have become increasingly significant in rehabilitation treatments aimed at improving patients suffering from walking gait abnormalities. The effectiveness of these robots depends on their ability to accurately track trajectories. This paper proposes a hybrid technique for tuning a PID controller in a wearable lower limb rehabilitation robot (WLLR). The combination of GA and PSO, termed HGAPSO, is utilized to acquire PID parameters for the hip and knee joints, with the aim of minimizing overshoot and tracking error. Notably, the percentage overshoot recorded by HGAPSO for the hip and knee is superior to that of conventional ZN, GA, and PSO methods, with percentages of 4.9% and 0.42%, respectively. Furthermore, the maximum error (ME) and average error (AE) between desired and actual trajectories recorded for a range of motion (ROM) and walking conditions do not exceed 0.05, which are deemed acceptable errors. The maximum root mean square error (RMSE) recorded for both ROM and walking conditions is 0.028 and 0.043, respectively. Additionally, the coefficient of determination (R 2 ) for both conditions is more than 99%, indicating a close fit between desired and actual trajectories under various conditions. 2024-09-18 Proceeding PeerReviewed text en http://ir.unimas.my/id/eprint/46304/1/Optimizing%20PID-Based.pdf Annisa, Jamali and M. A., Zulkifli and M. N., Leman and Shahrol, Mohamaddan and Helmy, Hazmi (2024) Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients. In: 2024 IEEE 10th International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA), 30-31 July 2024, Bandung, Indonesia. https://ieeexplore.ieee.org/document/10675530
institution Universiti Malaysia Sarawak
building Centre for Academic Information Services (CAIS)
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Sarawak
content_source UNIMAS Institutional Repository
url_provider http://ir.unimas.my/
language English
topic TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
spellingShingle TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
Annisa, Jamali
M. A., Zulkifli
M. N., Leman
Shahrol, Mohamaddan
Helmy, Hazmi
Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients
description Wearable robots have become increasingly significant in rehabilitation treatments aimed at improving patients suffering from walking gait abnormalities. The effectiveness of these robots depends on their ability to accurately track trajectories. This paper proposes a hybrid technique for tuning a PID controller in a wearable lower limb rehabilitation robot (WLLR). The combination of GA and PSO, termed HGAPSO, is utilized to acquire PID parameters for the hip and knee joints, with the aim of minimizing overshoot and tracking error. Notably, the percentage overshoot recorded by HGAPSO for the hip and knee is superior to that of conventional ZN, GA, and PSO methods, with percentages of 4.9% and 0.42%, respectively. Furthermore, the maximum error (ME) and average error (AE) between desired and actual trajectories recorded for a range of motion (ROM) and walking conditions do not exceed 0.05, which are deemed acceptable errors. The maximum root mean square error (RMSE) recorded for both ROM and walking conditions is 0.028 and 0.043, respectively. Additionally, the coefficient of determination (R 2 ) for both conditions is more than 99%, indicating a close fit between desired and actual trajectories under various conditions.
format Proceeding
author Annisa, Jamali
M. A., Zulkifli
M. N., Leman
Shahrol, Mohamaddan
Helmy, Hazmi
author_facet Annisa, Jamali
M. A., Zulkifli
M. N., Leman
Shahrol, Mohamaddan
Helmy, Hazmi
author_sort Annisa, Jamali
title Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients
title_short Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients
title_full Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients
title_fullStr Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients
title_full_unstemmed Optimizing PID-Based Controller Utilizing Hybrid Evolutionary Algorithmn in Electric Motor-Driven Exoskeletons for Therapeutic Locomotion of Stroke Patients
title_sort optimizing pid-based controller utilizing hybrid evolutionary algorithmn in electric motor-driven exoskeletons for therapeutic locomotion of stroke patients
publishDate 2024
url http://ir.unimas.my/id/eprint/46304/1/Optimizing%20PID-Based.pdf
http://ir.unimas.my/id/eprint/46304/
https://ieeexplore.ieee.org/document/10675530
_version_ 1814942147730735104
score 13.244413

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