Research on Gait Tracking Control of Lower Limb Rehabilitation Robot

摘要

Aiming at the gait tracking problem in the process of rehabilitation robot movement, a gait tracking control method for assisting upright erecting rehabilitation robot is proposed. Firstly, the trajectory tracking curve is planned according to the patient's physical condition data, and then the synovial variable structure controller is used to track the desired trajectory, and the adaptive control of the auxiliary standing upright rehabilitation robot is achieved. The stability of the control system is judged by Lyapunov method. The simulation results show that the sliding mode variable structure control method is better than the PID control. The physical test also verifies the feasibility and effectiveness of the proposed method.