Adaptive neuro-fuzzy control based development of a wearable exoskeleton leg for human walking power augmentation

In this paper, a wearable exoskeleton leg conceived and designed to augment human's walking ability is proposed. The ultimate goal of this project is to provide an insight into the methodology of designing and controlling a power assist system, which integrates human's intellect as the central control system for manipulating the wearable anthropomorphic device. The whole process of design, construction and control of a prototype experimental exoskeleton is presented; the feasibility and performance of the novel ANFIS (adaptive-network-based fuzzy inference system) based control algorithm are studied followed by the conclusion as well as an outline of anticipated future research