This paper presents a robust motion control of a sitting-type lower limb rehabilitation robot (LLRR) in its operational-space. The mathematical background of the proposed robot is discussed and its motion control design in the task-space based on a double-loop control approach is derived herein along with its closed-loop system stability analysis. The motion tracking performance analysis of the proposed scheme is demonstrated using computer based numerical simulations. For numerical simulations and to validate the effectiveness of the motion control strategy, the clinically obtained test gait data is used for the desired motion trajectory of the lower limb rehabilitation robot.
Robust Operational-Space Motion Control of a Sitting-Type Lower Limb Rehabilitation Robot
Advs in Intelligent Syst., Computing
International Conference of Artificial Intelligence, Medical Engineering, Education ; 2019 ; Moscow, Russia October 01, 2019 - October 03, 2019
Advances in Artificial Systems for Medicine and Education III ; Chapter : 15 ; 161-172
2020-01-15
12 pages
Article/Chapter (Book)
Electronic Resource
English
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