Table 5.
Fuzzy rule base (with user’s posture; = L, = S).
| Controller Output | ||||||
|---|---|---|---|---|---|---|
| v | PL | PS | ZO | NS | NL | |
| ZO | NL | NS | NS | NS | NL | |
| PS | PS | NS | NL | NL | NL | |
| PL | PS | ZO | NL | NL | NL | |
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