PID Controller of Knee Orthoses using Fuzzy Curve Fitting

Abstract In this paper, we discuss the mode ling and control of a pneumatic cylinder system for attaining high human-friendliness of active knee orthoses. First, we develop a linear modeling by applying first-order Taylor series expansion about the initial values of the controller. Second, we design a self-tuning PID controller by applying real-time system identification with fuzzy curve fitting. Finally, we conclude with some remarks on the future work directions