Weight reduction. The yd = PWBSS 1 = 40.8 2 = 47.six kg for the experiment with 30 weightddPWBSSPWBSSPWBSS
Weight reduction. The yd = PWBSS 1 = 40.eight two = 47.six kg for the experiment with 30 weightddPWBSSPWBSSPWBSS2 for the experiment with polynomial reduction, yd PWBSS two = 40.eight kg are described as the fifth-order40 weight reference inputs yd1 = yd 1 and yd continuous The reference inputs y PWBSS1 and y PWBSS2 are described as thesafely. function to make sure the PBWSS moves smoothly, stably, and fifth-order reduction. d d Step 2: Energy on the pneumatic postural assistance program. polynomial continuous function to make sure the PBWSS moves smoothly, stably, and Step three: safely. The controller IT2FSC uvoli (i = 1, 2) is created based on Equation (19), with Step two:the parameterspneumatic postural help program. Power around the provided in Table four.PWBSSPWBSSStep 3: The controller IT2FSC u voli (i = 1, two) is made in accordance with Equation (19), using the parameters provided in Table 4. To boost security for the subject, the IT2FSC is created to output a gentle and smooth manage force towards the PBWSS in 50 s. Figures 202, respectively, show the experimental results for the ten , 20 , and 30 static bodyweight unloading force controls for the PBWSS together with the IT2FSC. Figures 20a, 21a, and 22a, respectively, show that ten , 20 , and 30 static unloading force Alvelestat Protocol reductions can be C6 Ceramide Biological Activity accomplished in about 20 s. The tracking errors for the static bodyweight unloading force are much less than kg immediately after 20 s, as shown in Figures 20b, 21b, and 22b. Figures 20c, 21c, and 22c show the output controlSensors 2021, 21,21 ofTable 4. The employed parameters from the PBWSS with all the IT2FSC for the static unloading force manage. M Fi = [(c1 , c2 , )] =Sensors 2021, 21, x FOR PEER Critique(-13, -11, 1.5) (-8.7, -6.7, 1.5) 22 of 31 (-1, 1, 1.five) (two.1, four.5, 1.5) (13, 15, 1.five) (20, 22, 1.5) (ten, using the ) (8.five, ) voltage.Membership The experimental results show that the PBWSS 9.5) (9.2, 9IT2FSC 8effectively M yi = [(y , yr )] = (7.5, 7) (six.six, six) (5.five, five) function of yi realized the weight reduction for the topic. l (3.5, three) (2.five, two) (1.5, 0)Membership function of Fi(-22, -20, 1.five) (-4.six, -2.6, 1.five) (six.4, 8.7, 1.five)PBSWW PBWSS 1 Gs Control Table four. The utilised parameters of the PBWSS with all the two IT2FSC for the static unloading forceGu control. parameters three.32 2 0.85 1.12 ( -22, -20,1.five) ( -13,-11,1.five) ( -8.7,-6.7,1.5) i ( two.1, 4.five,1.5) Membership function of F i M F = ( c1 , c2 ,) = ( -4.6, -2.six,1.5) ( -1,1,1.five) To boost safety for the topic, the IT2FSC6.four,8.7,1.five) to output a gentle and)smooth ( is developed (13,15,1.five) ( 20, 22,1.control force for the PBWSS in 50 s. Figures 202, respectively, show the experimental 10,9.five ) ( 9.2,9 ) ( eight.five,eight ) final results for the 10 , 20 , and 30 static bodyweight(unloading force controls for the i PBWSS using the IT2FSCi Figures 202a, respectively,=show that 10 , 20 , 5.5,530 static M y = ( yl , yr ) ( 7.five, 7 ) ( 6.6, six ) ( and ) Membership function of y unloading force reductions is usually accomplished in about 20 s. 3.5,3tracking2errors for static The ) ( 2.5, ) (1.five, 0 ) the ( bodyweight unloading force are less than kg just after 20 s, as shown in Figures 202b,c PBSWW PBWSS two Gs Gu show the output control voltage.1 The experimental outcomes show that the PBWSS with all the Control parameters IT2FSC successfully realized the three.32 weight reduction for the topic. 2 0.85 1.15 Weight (kg) 10 five 0 four Error (kg) 2 0 -2 -4 ten eight 6 four 2 0 Input Voltage (V) 0 five 10 15 20 0 five 10 15(a)25 (b)Tracking Target 4525 (c)25 30 Time (sec)Figure 20. Experimental outcomes for thefor the PB.
