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.


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    Title :

    Robust Operational-Space Motion Control of a Sitting-Type Lower Limb Rehabilitation Robot


    Additional title:

    Advs in Intelligent Syst., Computing



    Conference:

    International Conference of Artificial Intelligence, Medical Engineering, Education ; 2019 ; Moscow, Russia October 01, 2019 - October 03, 2019



    Publication date :

    2020-01-15


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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