A Simple Control Method for Exoskeleton for Rehabilitation

TrungHai Do

doi:https://doi.org/10.14445/23488379/IJEEE-V4I8P102

Research Article | Open Access

Volume 4 | Issue 8 | Year 2017 | Article Id. IJEEE-V4I8P102 | DOI : https://doi.org/10.14445/23488379/IJEEE-V4I8P102

A Simple Control Method for Exoskeleton for Rehabilitation

TrungHai Do, Duc Tan Vu

Citation :

TrungHai Do, Duc Tan Vu, "A Simple Control Method for Exoskeleton for Rehabilitation," International Journal of Electrical and Electronics Engineering, vol. 4, no. 8, pp. 7-12, 2017. Crossref, https://doi.org/10.14445/23488379/IJEEE-V4I8P102

Abstract

The paper proposes an easy-to-implementtraining system for lower limb rehabilitationoperated by impedance controllers. The proposedrobotic leg exoskeletonconsists ofhip,kneeand ankle joints driven by DC motors. Inverse kinematics with geometric strategy is applied to calculate joint angles from Clinical Gait Analysis (CGA) data. Then, the measured data undergoes a filtering process before being sent to the controllers to improve control quality. 3-DOF dynamic model of the exoskeleton is built by using MATLAB. Finally, performances of the proposed system are validated by simulation results.

Keywords

Impedance control, exoskeleton, SimMechanics simulation.

References

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