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Lower limb exoskeleton for gait rehabilitation with adaptive nonsingular sliding mode control

Published online by Cambridge University Press:  16 October 2024

Daniel Centeno-Barreda ,
Sergio Salazar-Cruz Open the ORCID record for Sergio Salazar-Cruz [Opens in a new window] ,
Ricardo López-Gutiérrez ,
Yukio Rosales-Luengas  and
Rogelio Lozano
Daniel Centeno-Barreda
Affiliation:
Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico
Sergio Salazar-Cruz*
Affiliation:
Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico
Ricardo López-Gutiérrez
Affiliation:
CONACYT-CINVESTAV, Mexico City, Mexico
Yukio Rosales-Luengas
Affiliation:
Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico
Rogelio Lozano
Affiliation:
Center for Research and Advanced Studies of National Polytechnic Institute, Mexico City, Mexico
*
Corresponding author: Sergio Salazar-Cruz; Email: [email protected]
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Abstract

This paper introduces a lower limb exoskeleton for gait rehabilitation, which has been designed to be adjustable to a wide range of patients by incorporating an extension mechanism and series elastic actuators (SEAs). This configuration adapts better to the user’s anatomy and the natural movements of the user’s joints. However, the inclusion of SEAs increases actuator mass and size, while also introducing nonlinearities and changes in the dynamic response of the exoskeletons. To address the challenges related to the human–exoskeleton dynamic interaction, a nonsingular terminal sliding mode control that integrates an adaptive parameter adjustment strategy is proposed, offering a practical solution for trajectory tracking with uncertain exoskeleton dynamics. Simulation results demonstrate the algorithm’s ability to estimate unknown parameters. Experimental tests analyze the performance of the controller against uncertainties and external disturbances.

Keywords

bipedsexoskeletonscontrol of robotic systemsautomationhuman biomechanics
Type
Research Article
Information
Robotica , Volume 42 , Issue 11 , November 2024 , pp. 3819 - 3838
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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