Skip to main content
SpringerLink
Log in

Intelligent control of an MR prosthesis knee using of a hybrid self-organizing fuzzy controller and multidimensional wavelet NN

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

A Magneto rheological (MR) rotary brake as a prosthesis knee is addressed here. To the gait of the amputee, the brake, automatically adapts knee damping coefficient using only local sensing of the knee torque and position. It is difficult to design a model-based controller, since the MR knee system has nonlinear and very complicated governing mathematical equations. Hence, a Hybrid self-organizing fuzzy controller and multidimensional wavelet neural network (HSFCMWNN) is proposed here to control the knee damping coefficient using of the inverse dynamics of the MR rotary damper. A Self-organizing fuzzy controller (SOFC) is also proposed and during the control process, the SOFC continually updates fuzzy rules, while at the beginning contains blank fuzzy rules. Therefore the problem of finding appropriate fuzzy rules and consequently membership functions for the design of a fuzzy logic controller is ignored by using of the SOFC. It is, however, difficult to select appropriate parameters (learning rate and weighting distribution) in the SOFC which are crucial for control of MR prosthesis knee. To deal with this drawback, a hybrid self-organizing fuzzy and multidimensional wavelet neural network is employed appropriately. The proposed strategy uses a Multidimensional wavelet neural network (MWNN) to adjust these parameters in real time, to achieve to optimal values. First, the MWNN is trained by Stochastic gradient algorithm (SGA) and then to reduce the learning cycle to be needed and the appropriate error, a learning procedure based on the Levenberg-Marquardt (LM) algorithm is adopted intentionally. Simulation results demonstrate that the HSFCMWNN performs better in control performance than that of the SOFC in improving gait of the amputee.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. A. Hernandez, G. N. Marichal, A. V. Poncela and I. Padron, Design of intelligent control strategies using a magnetorheological damper for span structure, Smart Structures and Systems, 15 (4) (2015) 931–947.

    Article  Google Scholar 

  2. S. H. Zareh, A. Sarrafan, A. F. Jahromi and A. Khayyat, Linear quadratic Gaussian application and clipped optimal algorithm using for semi active vibration of passenger car, Proc. IEEE Int. Conf. on Mechatronics, Istanbul, Turkey 2011 122–127.

    Google Scholar 

  3. S. J. Dyke, B. F. Spencer, M. K. Sain and J. D. Carlson, An experimental study of MR dampers for seismic protection, Smart Materials and Structures, 7 (5) (1998) 693–704.

    Article  Google Scholar 

  4. Z. D. Xu, D. H. Jia and X. C. Zhang, Performance tests and mathematical model considering magnetic saturation for magnetorheological damper, Journal of Intelligent Material Systems and Structures, 23 (12) (2012) 1331–1349.

    Article  Google Scholar 

  5. A. Sarrafan, S. H. Zareh, A. Khayyat and A Zabihollah, Performance of an offshore platform with MR dampers subjected to wave, Proc. IEEE Int. Conf. on Mechatronics, Istanbul, Turkey 2011 242–247.

    Google Scholar 

  6. H. Sayyaadi and S. H. Zareh, Prosthetic knee using of hybrid concept of magnetorheological brake with a T-shaped drum, Proc. IEEE Int. Conf. on Mechatronics and Automation, Beijing, China 2015 721–726.

    Google Scholar 

  7. H. Naito, Y. Akazawa, K. Tagaya, T. Matsumoto and M. Tanaka, An ankle-foot orthosis with a variable-resistance ankle joint using a magnetorheological-fluid rotary damper, Journal of Biomechanical Science and Engineering, 4 (2) (2009) 182–191.

    Article  Google Scholar 

  8. M. Avraam, M. Horodinca, I. Romanescu and A. Preumont, Computer controlled rotational MR-brake for wrist rehabilitation device, Journal of Intelligent Material Systems and Structures, 21 (15) (2010) 1543–1557.

    Article  Google Scholar 

  9. J. W. Lee, S. J. Ha, Y. K. Cho, K. B. Kim and M. W. Cho, Investigation of the polishing characteristics of metal materials and development of micro MR fluid jet polishing system for the ultra precision polishing of micro mold pattern, Journal of Mechanical Science and Technology, 29 (5) (2015) 2205–2211.

    Article  Google Scholar 

  10. H. Sayyaadi and S. H. Zareh, A new configuration in a prosthetic knee using of hybrid concept of an MR brake with a T-shaped drum incorporating an arc form surface, Smart Structures and Systems, 17 (2) (2016), 275–296.

    Article  Google Scholar 

  11. H. Herr and A. Wilkenfeld, User-adaptive control of a magnetorheological prosthetic knee, Industrial Robot: An International Journal, 30 (1) (2003) 42–55.

    Article  Google Scholar 

  12. D. Popovic and V. Kalanovic, Output space tracking control for above-knee prosthesis, IEEE Transactions on Biomedical Engineering, 40 (6) (1993) 549–557.

    Article  MATH  Google Scholar 

  13. D. Popovic, M. Oguztoreli and R. Stein, Optimal control for the active above-knee prosthesis, Annals of Biomedical Engineering, 19 (2) (1991) 131–150.

    Article  Google Scholar 

  14. B. Aeyels, W. V. Petegem, V. Sloten, G. Perre and L. Peeraer, An EMG-based finite state approach for a microcomputer-controlled above knee prosthesis, Proc. of IEEE Engineering in Medicine and Biology, Montreal, Quebec, Canada 1995 1315–1316.

    Google Scholar 

  15. T. J. Procyk and E. H. Mamdani, A linguistic selforganizing process controller, Automatica, 15 (1) (1979) 15–30.

    Article  MATH  Google Scholar 

  16. M. V. C. Rao and V. Prahlad, A tunable fuzzy logic controller for vehicle active suspension system, Fuzzy Sets and Systems, 85 (1) (1997) 11–21.

    Article  Google Scholar 

  17. B. S. Zhang and J. M. Edmunds, Self-organizing fuzzy logic controller, IEE Proceeding-D, 139 (5) (1992) 460–464.

    Article  MATH  Google Scholar 

  18. C. Z. Yang, Design of real-time linguistic self-organizing fuzzy controller, M.S. Thesis, Dept. Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan (1992).

    Google Scholar 

  19. S. J. Huang and J. S. Lee, A stable self-organizing fuzzy controller for robotic motion control, IEEE Transactions on Industrial Electronics, 47 (2) (2000) 421–428.

    Article  Google Scholar 

  20. J. Lin and R. J. Lian, DSP-based self-organising fuzzy controller for active suspension systems, Vehicle System Dynamics, 46 (12) (2008) 1123–1139.

    Article  Google Scholar 

  21. R. J. Lian, B. F. Lin and W. T. Sie, Self-organizing fuzzy control of active suspension systems, International Journal of Systems Science, 36 (3) (2005) 119–135.

    Article  Google Scholar 

  22. R. J. Lian, B. F. Lin and J. H. Huang, Self-organizing fuzzy control of constant cutting force in turning, International Journal of Advanced Manufacturing Technology, 29 (5) (2006) 436–445.

    Article  Google Scholar 

  23. J. Lin and R. J. Lian, Intelligent control of active suspension systems, IEEE Transactions on Industrial Electronics, 58 (2) (2011) 618–628.

    Article  MathSciNet  Google Scholar 

  24. H. Adeli and H. Kim, Wavelet-hybrid feedback least mean square algorithm for robust control of structures, Journal of Structural Engineering, 130 (1) (2004) 128–137.

    Article  Google Scholar 

  25. H. Kim and H. Adeli, Wavelet hybrid feedback-LMS algorithm for robust control of cable-stayed bridges, Journal of Bridge Engineering, 10 (2) (2005) 116–123.

    Article  Google Scholar 

  26. W. Nengmou and H. Adel, Self-constructing wavelet neural network algorithm for nonlinear control of large structures, Engineering Applications of Artificial Intelligence, 41 (2015) 249–258.

    Article  Google Scholar 

  27. R. N. Kirkwood, H. A. Gomes, R. F. Sampaio, E. Culham and P. Costigan, Biomechanical analysis of hip and knee joints during gait in elderly subjects, Acta Ortopédica Brasileira, 15 (5) (2007) 267–271.

    Article  Google Scholar 

  28. D. A. Winter, Biomechanics and Motor Control of Human Movement, 4th Edition, John Wiley & Sons, Inc. (2009).

    Book  Google Scholar 

  29. A. Sarrafan, S. H. Zareh, A. A. A. Khayyat and A. Zabihollah, Neuro-fuzzy control strategy for an offshore steel jacket platform subjected to wave-induced forces using magnetorheological dampers, Journal of Mechanical Science and Technology, 26 (4) (2012) 1179–1196.

    Article  Google Scholar 

  30. H. Wang, K. Liu, X. Liu, B. Chen and C. Lin, Neural-based adaptive output-feedback control for a class of nonstrictfeedback stochastic nonlinear systems, IEEE Transactions on Cybernetics, 45 (9) (2015) 1977–1987.

    Article  Google Scholar 

  31. S. H. Zareh, M. Abbasi, H. Mahdavi and K. G. Osgouie, Semi-active vibration control of an eleven degrees of freedom suspension system using neuro inverse model of magnetorheological dampers, Journal of Mechanical Science and Technology, 26 (8) (2012) 2459–2467.

    Article  Google Scholar 

  32. S. H. Zareh and A. A. A. Khayyat, Fuzzy inverse model of magnetorheological dampers for semi-active vibration control of an eleven-degrees of freedom suspension system, Journal of System Design and Dynamics, 5 (7) (2011) 1485–1497.

    Article  Google Scholar 

  33. S. A. Rodríguez, C. E. Hdez, O. A. Morfin, F. Jurado and P. E. Prado, Real-time results for high order neural identification and block control transformation form using high order sliding modes, Asian Journal of Control, 17 (6) (2015) 2435–2451.

    Article  MathSciNet  MATH  Google Scholar 

  34. S. J. Huang and W. C. Lin, A self-organizing fuzzy controller for an active suspension system, Journal of Vibration and Control, 9 (9) (2003) 1023–1040.

    MATH  Google Scholar 

  35. Q. Zhang and A. Benveniste, Wavelet networks, IEEE Transactions on Neural Networks, 3 (6) (1992) 889–899.

    Article  Google Scholar 

  36. S. Postalcioglu and Y. Becerikli, Wavelet networks for nonlinear system modeling, Neural Computing and Applications, 16 (2007) 433–441.

    Article  MATH  Google Scholar 

  37. Z. Kovacic and S. Bogdan, Fuzzy Controller Design: Theory and Applications, CRC Press, New York (2005).

    Book  MATH  Google Scholar 

  38. M. Attari, S. A. Gadsden and S. R. Habibi, Target tracking formulation of the SVSF as a probabilistic data association algorithm, Proc. American Control Conference, Washington, DC, USA 2013 6328–6332.

    Google Scholar 

  39. S. H. Zareh, A. Sarrafan, A. A. A. Khayyat and A. Zabihollah, Intelligent semi-active vibration control of eleven degrees of freedom suspension system using magnetorheological dampers, Journal of Mechanical Science and Technology, 26 (2) (2012) 323–334.

    Article  Google Scholar 

  40. S. M. A. Hashemi, H. H. Kazemi and A. Karamodin, Localized genetically optimized wavelet neural network for semi-active control of buildings subjected to earthquake, Structural Control and Health Monitoring, 23 (8) (2016) 1074–1087.

    Article  Google Scholar 

  41. F. Lu, J. Xu and Z. Wang, Application of GA optimized wavelet neural networks for carrying capacity of water resources prediction, Proc. Int. Conf. on Environmental Science and Information Application Technology (2009).

    Google Scholar 

  42. S. H. Zareh, A. Sarrafan and A. A. A. Khayyat, Clipped optimal control of 11-DOFs of a passenger car using magnetorheological damper, Proc. IEEE Int. Conf. on Computer Control and Automation 2011 162–167.

    Google Scholar 

  43. A. Sarrafan, S. H. Zareh, A Zabihollah and A. Khayyat, Intelligent vibration control of micro-cantilever beam in MEMS, Proc. IEEE Int. Conf. on Mechatronics, Istanbul, Turkey 2011 336–341.

    Google Scholar 

  44. J. Lina and R. J. Lian, Hybrid self-organizing fuzzy and radial basis-function neural-network controller for gasassisted injection molding combination systems, Mechatronics, 20 (6) (2010) 698–711.

    Article  Google Scholar 

  45. D. O. Thompson and D. E. Chimenti, Review of progress in quantitative nondestructive evaluation, 1st Ed., Springer (1996).

    Book  Google Scholar 

  46. R. J. Lian, Intelligent control of a constant turning force system with fixed metal removal rate, Applied Soft Computing, 12 (9) (2012) 3099–3111.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Sharif University of Technology, Tehran, 11155-9567, Iran

    Hassan Sayyaadi & Seiyed Hamid Zareh

Authors
  1. Hassan Sayyaadi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Seiyed Hamid Zareh
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hassan Sayyaadi.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Hassan Sayyaadi received his B.Sc. degree from the Amir Kabir University of Technology in 1987 and M.Sc. degree from the Sharif University of Technology, Tehran, Iran, in 1990 and the Ph.D. degree from the University of Tokyo, Japan, in 2001 all in Mechanical Engineering. He is currently a Professor at the School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran. His research interests are robotics, intelligent control, smart materials and vibration.

Seiyed Hamid Zareh is currently a Ph.D. candidate at the School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran. His research interests are vibration, smart materials and intelligent control.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Sayyaadi, H., Zareh, S.H. Intelligent control of an MR prosthesis knee using of a hybrid self-organizing fuzzy controller and multidimensional wavelet NN. J Mech Sci Technol 31, 3509–3518 (2017). https://doi.org/10.1007/s12206-016-1236-9

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-016-1236-9

Keywords

Search

Navigation