A Simple Control Method for Exoskeleton for Rehabilitation

International Journal of Electrical and Electronics Engineering
© 2017 by SSRG - IJEEE Journal
Volume 4 Issue 8
Year of Publication : 2017
Authors : TrungHai Do, Duc Tan Vu
How to Cite?

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


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.


  Impedance control, exoskeleton, SimMechanics simulation.


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