An Intelligent Control for Lower Limb 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, "An Intelligent Control for Lower Limb Exoskeleton for Rehabilitation," SSRG International Journal of Electrical and Electronics Engineering, vol. 4,  no. 8, pp. 13-19, 2017. Crossref,


This paper proposes an intelligent lower extremity rehabilitation training system controlled by adaptive fuzzy controllers. The structure of the robotic leg exoskeleton can be divided into three parts including hip joint, knee joint, and ankle joint, which is 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 is filtered before being sent to the controllers to improve control quality.Finally, workability of theproposed system is verified bysimulation results with sufficient performances and effectiveness.


Adaptive fuzzy control, exoskeleton rehabilitation, inverse kinematics, filtering signal, Sim Mechanics simulation.


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