Fuzzy Adaptive Control of a Knee-Joint Orthosis for the Smooth Tracking

The control problem for a knee orthosis of the human has been discussed in this paper. The goal is to achieve the best performance of the system (shank-orthosis) for tracking the recommended trajectory of a doctor, with the lowest level of variation in the tracking errors. Hence, a fuzzy adaptive control law has been designed to enhance the accuracy of the system tracking while upholding the stability of the whole structure. We could demonstrate the superior performance and more accurate tracking of the proposed control strategy through several comparative simulations.