Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results

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...

Full description

Bibliographic Details
Main Authors: E. Anyuli Alvarez Salcido, Daniel Centeno-Barreda, Yukio Rosales, Ricardo Lopéz-Gutiérrez, Sergio Salazar, Rogelio Lozano
Format: Article
Language:English
Published: MDPI AG 2023-09-01
Series:Algorithms
Subjects:
robotic exoskeleton
rehabilitation robotics
robust control algorithm
sliding mode control
ankle and knee biomechanics
Online Access:https://www.mdpi.com/1999-4893/16/9/449

Internet

https://www.mdpi.com/1999-4893/16/9/449

Similar Items