Open AccessRobotic Exoskeleton Control for Lower Limb Rehabilitation of Knee Joint
Author(s) -
Syed Faiz Ahmed,
M. Kamran Joyo,
Athar Ali,
Abdul Malik Mohd Ali,
Kushsairy Kadir,
Yarooq R. Naqvi,
Badri A. Bakar,
Asadullah Shah
Publication year - 2018
Publication title -
international journal of engineering and technology
Language(s) - English
Resource type - Journals
ISSN - 2227-524X
DOI - 10.14419/ijet.v7i2.34.13912
Subject(s) - exoskeleton , rehabilitation , physical medicine and rehabilitation , wearable computer , powered exoskeleton , robustness (evolution) , pid controller , computer science , work (physics) , knee joint , simulation , control engineering , engineering , medicine , physical therapy , surgery , temperature control , mechanical engineering , biochemistry , chemistry , gene , embedded system
Wearable devices such as exoskeletons are being opted frequently during rehabilitation processes for the post stroke recovery. Such devices are playing important role in the development of assistive rehabilitation robotic systems. In this paper three control strategies MPC and LQR and PID are introduced which were applied to knee joint of lower limb exoskeleton model for passive exercise. The two controls MPC and LQR are model based control which empowers them for stable responses. In this paper the analysis of robustness of control is done under the noisy and disturbance conditions. The results showed good performance of the exoskeleton model with the applied controls in the provided condition. In the future work the applied controls will be implemented on hardware.