Robust Control of Lower Extremity Exoskeleton Rehabilitation Robot Based on Nominal Modeling

Zhuangqun Song*, Peng Zhao, Rong Yang, Xiangning Wu, Chao Yang, Xueshan Gao

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This research tackles the issue of controlling joint angle tracking in lower extremity exoskeleton rehabilitation robots by presenting a method known as Robust Control of Lower Extremity Exoskeleton Rehabilitation Robots based on the Nominal Model (RC-LEERR-NM). Initially, the dynamics model for the single-leg swing phase of the exoskeleton was developed using the Lagrange method, followed by a thorough analysis of the exoskeleton's gait. The dynamics model was then divided into two components: the nominal model and the robust control, which together form the control terms necessary for the effective management of the exoskeleton system. Additionally, an integral-type Lyapunov function was created to demonstrate that the proposed control system ensures global asymptotic stability. The method's effectiveness was confirmed through simulations and experimental results, which indicated that the RC-LEERRNM method significantly outperforms PID control in terms of dynamic stability and trajectory tracking accuracy, successfully enabling the lower extremity exoskeleton to accurately follow human gait patterns.

Original languageEnglish
Title of host publication2024 IEEE International Conference on Cognitive Computing and Complex Data, ICCD 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages306-313
Number of pages8
ISBN (Electronic)9798350352894
DOIs
Publication statusPublished - 2024
Event2024 IEEE International Conference on Cognitive Computing and Complex Data, ICCD 2024 - Qinzhou, China
Duration: 28 Sept 202430 Sept 2024

Publication series

Name2024 IEEE International Conference on Cognitive Computing and Complex Data, ICCD 2024

Conference

Conference2024 IEEE International Conference on Cognitive Computing and Complex Data, ICCD 2024
Country/TerritoryChina
CityQinzhou
Period28/09/2430/09/24

Keywords

  • lower extremity exoskeleton rehabilitation robot
  • nominal dynamics modeling
  • robust control
  • trajectory tracking

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