A Skill-Inspired Adaptive Fuzzy Control Framework for Symmetric Gait Tracking with Sparse Sensor Fusion in Lower-Limb Exoskeletons Article Swipe
Loqmane Bencharif
,
Abderahim Ibset
,
Hanbing Liu
,
Wen Qi
,
Hang Su
,
Samer Alfayad
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.3390/sym17081265
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.3390/sym17081265
This paper presents a real-time framework for bilateral gait reconstruction and adaptive joint control using sparse inertial sensing. The system estimates full lower-limb motion from a single-side inertial measurement unit (IMU) by applying a pipeline that includes signal smoothing, temporal alignment via Dynamic Time Warping (DTW), and motion modeling using Gaussian Mixture Models with Regression (GMM-GMR). Contralateral leg trajectories are inferred using both ideal and adaptive symmetry-based models to capture inter-limb variations. The reconstructed motion serves as reference input for joint-level control. A classical Proportional–Integral–Derivative (PID) controller is first evaluated, demonstrating satisfactory results under simplified dynamics but notable performance loss when virtual stiffness and gravity compensation are introduced. To address this, an adaptive fuzzy PID controller is implemented, which dynamically adjusts control gains based on real-time tracking error through a fuzzy inference system. This approach enhances control stability and motion fidelity under varying conditions. The combined estimation and control framework enables accurate bilateral gait tracking and smooth joint control using minimal sensing, offering a practical solution for wearable robotic systems such as exoskeletons or smart prosthetics.
Related Topics
Concepts
Control theory (sociology)
Computer science
Controller (irrigation)
Exoskeleton
Inertial measurement unit
Gait
Jerk
Motion capture
Artificial intelligence
Smoothing
Motion control
Computer vision
PID controller
Simulation
Robot
Control engineering
Motion (physics)
Engineering
Control (management)
Classical mechanics
Biology
Temperature control
Physiology
Acceleration
Agronomy
Physics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/sym17081265
- OA Status
- gold
- References
- 35
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4413251450
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4413251450Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/sym17081265Digital Object Identifier
- Title
-
A Skill-Inspired Adaptive Fuzzy Control Framework for Symmetric Gait Tracking with Sparse Sensor Fusion in Lower-Limb ExoskeletonsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2025Year of publication
- Publication date
-
2025-08-07Full publication date if available
- Authors
-
Loqmane Bencharif, Abderahim Ibset, Hanbing Liu, Wen Qi, Hang Su, Samer AlfayadList of authors in order
- Landing page
-
https://doi.org/10.3390/sym17081265Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://doi.org/10.3390/sym17081265Direct OA link when available
- Concepts
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Control theory (sociology), Computer science, Controller (irrigation), Exoskeleton, Inertial measurement unit, Gait, Jerk, Motion capture, Artificial intelligence, Smoothing, Motion control, Computer vision, PID controller, Simulation, Robot, Control engineering, Motion (physics), Engineering, Control (management), Classical mechanics, Biology, Temperature control, Physiology, Acceleration, Agronomy, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
35Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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