Optimal fuzzy logic-based control strategy for lower limb rehabilitation exoskeleton

For patients with dyskinesias caused by central nervous system diseases such as stroke, in the early stage of rehabilitation training, lower limb rehabilitation robots are used to provide passive rehabilitation training. This paper proposed a human-like robust adaptive PD control strategy of the exoskeleton robot based on healthy human gait data. When the error disturbance is bounded, a human-like robust adaptive PD control strategy is designed, which not only enables the rehabilitation exoskeleton robot to quickly track the human gait trajectory obtained through the 3D NOKOV motion capture system, but also can well identify the structural parameters of the system and avoid excessively initial output torque for the robot. MATLAB simulation verifies that the proposed method has a better performance to realize tracking the experimental trajectory of human movement and anti-interference ability under the condition of ensuring global stability for a lower limb rehabilitation exoskeleton robot.

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Simulation Study of an FES-Involved Control Strategy for Lower Limb Rehabilitation Robot

Intelligent Robotics and Applications - Lecture Notes in Computer Science ◽

10.1007/978-3-642-33515-0_9 ◽

2012 ◽

pp. 85-95 ◽

Cited By ~ 1

Author(s):

Yixiong Chen ◽

Jin Hu ◽

Feng Zhang ◽

Zengguang Hou

Keyword(s):

Simulation Study ◽

Control Strategy ◽

Lower Limb ◽

Rehabilitation Robot ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Admittance Control Strategy with Output Joint Space Constraints for a Lower Limb Rehabilitation Robot

2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM) ◽

10.1109/icarm49381.2020.9195367 ◽

2020 ◽

Author(s):

Jie Zhou ◽

Renyu Yang ◽

Yueling Lyu ◽

Rong Song

Keyword(s):

Control Strategy ◽

Lower Limb ◽

Joint Space ◽

Rehabilitation Robot ◽

Admittance Control ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Control strategy and experimental research of a cable-driven lower limb rehabilitation robot

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406220952510 ◽

2020 ◽

pp. 095440622095251 ◽

Cited By ~ 1

Author(s):

Yanlin Wang ◽

Keyi Wang ◽

Zixing Zhang ◽

Zongjun Mo

Keyword(s):

Control Strategy ◽

Lower Limb ◽

Control Experiment ◽

Servo Control ◽

Cable Tension ◽

Rehabilitation Training ◽

Training Mode ◽

Loading System ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

This paper aims to solve the problems of the existing limbs rehabilitation robots in terms of configuration limitations, human-machine compatibility, multimodal rehabilitation training. In addition, the control method of the cable tension of cable drive unit (CDU) loading system is studied to improve loading accuracy of cable tension and safety of the rehabilitation training robot. The novelty of this work is to propose a compound correction controller that can not only ensure the tracking accuracy of the cable-driven lower limb rehabilitation robot (CDLR) but also effectively improve the force loading accuracy of the cable tension force. Hence, this paper proposes a CDLR that can realize the active training mode, passive training mode, and assistive training mode. Firstly, the structure and working principle of CDLR is introduced. The dynamic model of the CDU loading system is established and the frequency characteristic of the CDU loading system is analyzed. In order to improve the loading accuracy and response speed of the CDU loading system, a compound correction controller is designed based on the frequency characteristics of the CDU loading system. Finally, the active force servo control experiment and the passive force servo control experiment of the CDU loading system are carried out on the experimental platform. The experimental results show that the compound correction control strategy can meet the requirements of lower limb rehabilitation training in the active force servo control experiment; the compound correction control strategy can significantly improve the loading precision and dynamic performance of the system in the passive force servo control experiment. That is, the compound correction control strategy can meet the requirements of lower limb rehabilitation training. The results provide a basis for the whole robot experiment and human-machine experiments and improve the stability of the CDLR system and patient safety.

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