Impedance Synovial Control for Lower Limb Rehabilitation Exoskeleton System

EasyChair Preprint 9277

Abstract

It is very important to improve the working stability and wearing comfort for the lower limb exoskeleton system, so as to increase the rehabilitation effect of patients with lower limb injuries. However, due to the complex structure of the lower limb exoskeleton, there are uncertain disturbances in the system. Traditional control methods cannot meet the requirements of dynamic response and robustness, since there are still many shortcomings in the safety and compliance of the lower limb exoskeleton for rehabilitation wearing. In this paper, an impedance synovial control strategy for the exoskeleton of the lower limbs is proposed. The safety of contact force is considered, and the impedance controller is combined with the improved integral terminal synovial controller (ITSMC) to reduce system’s errors, and to ensure system’s rapidity. The proposed method reduces the impedance trajectory tracking error by 90% to the conventional linear synovial control (LSMC). The stability is analyzed by a Lyapunov function. The simulation results show that the combination of the synovial controller and impedance controller has superior performances, and the entire system has a good trajectory tracking effect.

Keyphrases: Synovial control, impedance control, lower limb exoskeleton, trajectory tracking

@booklet{EasyChair:9277,
  author    = {Xinyu Zhu and Zhenxing Sun and Ting Wang},
  title     = {Impedance Synovial Control for Lower Limb Rehabilitation Exoskeleton System},
  howpublished = {EasyChair Preprint 9277},
  year      = {EasyChair, 2022}}