Design and Kinematics Analysis of a Lower Limb Exoskeleton Robot

2018 ◽  
pp. 131-139
Author(s):  
Xiaodong Wei ◽  
Hongliu Yu ◽  
Qingyun Meng ◽  
Bingshan Hu
Keyword(s):  
Lower Limb ◽  
Kinematics Analysis ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot

Design of M-G modal space sliding mode control for lower limb exoskeleton robot driven by electrical actuators

Mechatronics ◽  
2021 ◽  
Vol 78 ◽  
pp. 102610
Author(s):  
Jinsong Zhao ◽  
Tao Yang ◽  
Zhilei Ma ◽  
Chifu Yang ◽  
Zhipeng Wang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Exoskeleton Robot ◽  
Modal Space

Trajectory following control of lower limb exoskeleton robot based on Udwadia–Kalaba theory

2021 ◽  
pp. 107754632110317
Author(s):  
Jin Tian ◽  
Liang Yuan ◽  
Wendong Xiao ◽  
Teng Ran ◽  
Li He
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Uniform Boundedness ◽  
Adaptive Robust Control ◽  
Structural Vibration ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Constraint Problem ◽  
Trajectory Following

The main objective of this article is to solve the trajectory following problem for lower limb exoskeleton robot by using a novel adaptive robust control method. The uncertainties are considered in lower limb exoskeleton robot system which include initial condition offset, joint resistance, structural vibration, and environmental interferences. They are time-varying and have unknown boundaries. We express the trajectory following problem as a servo constraint problem. In contrast to conventional control methods, Udwadia–Kalaba theory does not make any linearization or approximations. Udwadia–Kalaba theory is adopted to derive the closed-form constrained equation of motion and design the proposed control. We also put forward an adaptive law as a performance index whose type is leakage. The proposed control approach ensures the uniform boundedness and uniform ultimate boundedness of the lower limb exoskeleton robot which are demonstrated via the Lyapunov method. Finally, simulation results have shown the tracking effect of the approach presented in this article.

Adaptive Learning Inertia Control of Lower Limb Exoskeleton Robot.

2021 ◽  
Author(s):  
Muhammad Arsalan ◽  
Muhammad Tufail ◽  
SG Khan ◽  
Syed Humayoon Shah
Keyword(s):  
Adaptive Learning ◽  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Inertia Control

scholarly journals Design and simulation of PID controller for lower limb exoskeleton robot

2018 ◽  
Author(s):  
Munadi ◽  
M. S. Nasir ◽  
M. Ariyanto ◽  
Norman Iskandar ◽  
J. D. Setiawan
Keyword(s):  
Lower Limb ◽  
Pid Controller ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot

scholarly journals Development of human lower limbs exoskeleton robot for medical rehabilitation

2021 ◽  
pp. 91-97
Author(s):  
E. A. Kotov ◽  
◽  
A. D. Druk ◽  
D. N. Klypin ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Experimental Research ◽  
Lower Limb ◽  
Lower Limbs ◽  
Medical Rehabilitation ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Controlled Motion ◽  
And Control

The article deals with the solution of the problem of optimizing the characteristics of controlled motion of human lower limb exoskeleton robot for improving medical rehabilitation. The aim of the work is to develop a rehabilitation device capable of providing controlled motion in two planes, as well as maintaining balance without loss of mobility. The design and control system of a rehabilitation trainer designed for performing mechanotherapy of the lower limbs of patients with locomotive disorders are proposed and characterized. The developed system has a number of significant differences from analogues and can be recommended for experimental research on patients with impaired locomotive functions

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