Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results
This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg extension routine in a sitting position. This ro...
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| Format: | Article |
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MDPI AG
2023-09-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/16/9/449 |
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| author | E. Anyuli Alvarez Salcido Daniel Centeno-Barreda Yukio Rosales Ricardo Lopéz-Gutiérrez Sergio Salazar Rogelio Lozano |
| author_facet | E. Anyuli Alvarez Salcido Daniel Centeno-Barreda Yukio Rosales Ricardo Lopéz-Gutiérrez Sergio Salazar Rogelio Lozano |
| author_sort | E. Anyuli Alvarez Salcido |
| collection | DOAJ |
| description | This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg extension routine in a sitting position. This routine is commonly used to rehabilitate an injury on an Anterior Cruciate Ligament (ACL) and it is applied to the knee and ankle joints. Moreover, the paper presents the development and implementation of the robotic structure of the ankle joint to integrate it into an exoskeleton for gait rehabilitation. The development of the dynamic model and the implementation of the control algorithm in simulation and experimental tests are presented, showing that the proposed control guarantees the convergence of the tracking error. |
| first_indexed | 2024-03-10T23:07:37Z |
| format | Article |
| id | doaj.art-8e6ceff4200341c2a1551152710fd77f |
| institution | Directory Open Access Journal |
| issn | 1999-4893 |
| language | English |
| last_indexed | 2024-03-10T23:07:37Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj.art-8e6ceff4200341c2a1551152710fd77f2023-11-19T09:13:18ZengMDPI AGAlgorithms1999-48932023-09-0116944910.3390/a16090449Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental ResultsE. Anyuli Alvarez Salcido0Daniel Centeno-Barreda1Yukio Rosales2Ricardo Lopéz-Gutiérrez3Sergio Salazar4Rogelio Lozano5Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, MexicoCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, MexicoCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, MexicoMéxico-Consejo Nacional de Humanidades, Ciencias y Tegnologías (IXM-CONAHCYT), Av. de los Insurgentes Sur #1582, Crédito Constructor, Benito Juárez, Mexico City 03940, MexicoCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, MexicoCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, MexicoThis paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg extension routine in a sitting position. This routine is commonly used to rehabilitate an injury on an Anterior Cruciate Ligament (ACL) and it is applied to the knee and ankle joints. Moreover, the paper presents the development and implementation of the robotic structure of the ankle joint to integrate it into an exoskeleton for gait rehabilitation. The development of the dynamic model and the implementation of the control algorithm in simulation and experimental tests are presented, showing that the proposed control guarantees the convergence of the tracking error.https://www.mdpi.com/1999-4893/16/9/449robotic exoskeletonrehabilitation roboticsrobust control algorithmsliding mode controlankle and knee biomechanics |
| spellingShingle | E. Anyuli Alvarez Salcido Daniel Centeno-Barreda Yukio Rosales Ricardo Lopéz-Gutiérrez Sergio Salazar Rogelio Lozano Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results Algorithms robotic exoskeleton rehabilitation robotics robust control algorithm sliding mode control ankle and knee biomechanics |
| title | Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results |
| title_full | Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results |
| title_fullStr | Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results |
| title_full_unstemmed | Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results |
| title_short | Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results |
| title_sort | design of a lower limb exoskeleton robust control simulation and experimental results |
| topic | robotic exoskeleton rehabilitation robotics robust control algorithm sliding mode control ankle and knee biomechanics |
| url | https://www.mdpi.com/1999-4893/16/9/449 |
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