Wearable Exoskeleton Assisted Rehabilitation in Multiple Sclerosis by Control of Sliding Mode Technique

摘要

A walking model with humanoid robot RH-2 can perform distinctive assignments in a joint effort by using PID controller different values of human in working environments is presented in this paper. Human-robot coordinated effort has a regular edge work as for human-robot association. In human-robot, we are using the linear control system to single inverted pendulum. In humanoid stride is frequently displayed with different forms of the modified pendulum, for example, 2D and 3D linear reversed pendulums. A human-robot is using the direct control system to using trial and error method using with PID controller and without PID controller in different values. By using humanoid-robot RH-2, the walking control was tested successfully. Contextual analysis is exhibited all together human-robot test platform humanoid-robot RH-2. They provide a high adaption to changing conditions and have the ability to make decisions quickly by processing imprecise information. Sliding mode control (SMC) reaction is superior to PIDSMC reaction to various unsettling influences. We accomplish great following of joint removals and speeds for both ostensible and irritated estimations of the framework parameters.