Abstract Assist-as-needed control strategy is an emerging approach to improve the effectiveness of gait rehabilitation training. We have proposed a pneumatic muscle (PM) driven Gait Rehabilitation Exoskeleton (GAREX) implemented with a multi-input–multi-output (MIMO) sliding mode control system to actively adjust the assistance level provided during gait rehabilitation. To realize the assist-as-needed control strategy, a specific algorithm is imperative to assess the active participation or effort of wearers and adapt the amount of assistance accordingly. We sought to establish a fuzzy logic compliance adaptation (FLCA) controller to form a novel cascade control system. We evaluated the feasibility of implemented FLCA controller on the performance of adjusting the compliance of GAREX’s knee joint according to the online assessment of the wear’s active participation level once in every gait cycle. Using controlled, treadmill-based walking tests involved three healthy subjects, we demonstrate that FLCA controller could effectively distinguish the capability/effort levels of wearers and enable the exoskeleton to adapt the knee joint compliance accordingly. Obtained results reveal that FLCA controller can collaborate well with MIMO sliding mode controller in a system and indicate the novel method of realizing assist-as-needed concept with the pneumatic muscle powered mechanisms.

中文翻译：

---

步态康复外骨骼 (GAREX) 上按需辅助控制器的模糊逻辑合规性适应

摘要 按需辅助控制策略是一种新兴的提高步态康复训练效果的方法。我们提出了一种气动肌肉 (PM) 驱动的步态康复外骨骼 (GAREX)，它采用多输入多输出 (MIMO) 滑模控制系统来实现，以主动调整步态康复期间提供的辅助水平。为了实现按需辅助控制策略，必须使用特定的算法来评估佩戴者的积极参与或努力并相应地调整辅助量。我们试图建立一个模糊逻辑顺从自适应 (FLCA) 控制器来形成一个新颖的串级控制系统。我们根据每个步态周期中一次穿戴的主动参与水平的在线评估，评估了实施 FLCA 控制器对调整 GAREX 膝关节顺应性的性能的可行性。使用涉及三个健康受试者的受控、基于跑步机的步行测试，我们证明 FLCA 控制器可以有效区分佩戴者的能力/努力水平，并使外骨骼能够相应地适应膝关节顺应性。获得的结果表明，FLCA 控制器可以与系统中的 MIMO 滑模控制器很好地协作，并表明使用气动肌肉动力机构实现按需辅助概念的新方法。我们证明 FLCA 控制器可以有效区分佩戴者的能力/努力水平，并使外骨骼能够相应地适应膝关节顺应性。获得的结果表明，FLCA 控制器可以与系统中的 MIMO 滑模控制器很好地协作，并表明使用气动肌肉动力机构实现按需辅助概念的新方法。我们证明 FLCA 控制器可以有效区分佩戴者的能力/努力水平，并使外骨骼能够相应地适应膝关节顺应性。获得的结果表明，FLCA 控制器可以与系统中的 MIMO 滑模控制器很好地协作，并表明使用气动肌肉动力机构实现按需辅助概念的新方法。