Modeling and control of a lower-limb rehabilitation robot

Abstract

This paper proposes a lower-limb rehabilitation robot. It assists patients suffering from hemiplegic to recover the hurt leg by walking in a gait trajectory. A single-side mechanical structure is designed, which is driven by the pneumatic muscles. For further research, we build a simplified 2-DOF dynamic model with the Lagrange method. PD control and adaptive control strategies are developed with stability analysis demonstrating that both methods are stable and effective. At last, we achieve the tracking performances of the robot model in both control strategies by simulation results. © 2012 Springer-Verlag.