Improved Trigger Time of Force Sensorless Power-Assisted System based on Fuzzy Logical Strategy and EMG Signal

This paper aims to enhance the trigger time of the force sensorless power-assisted system based on fuzzy logical design and electromyogram (EMG) sensing information. The disturbance observer integrated into power-assisted systems is a recently conventional method for developing the force sensorless power-assisted system (PAS). However, the behavior of conventional observer algorithm is alike low-pass filter, perhaps the time-delay is occurred by the observer algorithm. Hence, the improved trigger time of the force sensorless power-assisted system based on the fuzzy logical strategy and EMG signal has been proposed to treat the time delay of a force sensorless PAS. The Slope Sign Changes algorithm is utilized for processing EMG signals and extracting the feature of the EMG sensing information. Further, the fuzzy logic model is appropriately designed to integrate with EMG signal and disturbance observer. Experimental results show that the presented method can properly reduce time-delay of a force sensorless PAS according to the proposed fuzzy logic strategy with EMG signals.