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Research on design and trajectory tracking control of a variable size lower limb exoskeleton rehabilitation robot

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Abstract

Aiming at the problems of poor size adjustability and low joint tracking accuracy of lower limb exoskeleton rehabilitation robot (LLERR), a variable size lower limb exoskeleton rehabilitation robot (VSLLERR) was designed by UG NX software based on human body size data. Then, the kinematics model of VSLLERR was established by DH method, and the motion space of VSLLERR was analyzed. In addition, the dynamics model of VSLLERR was established by Lagrangian energy method, and the general nonlinear friction model was designed to modify and improve the accuracy of dynamics model. Then, the PID and reaching law (RL) controllers of VSLLERR were designed by SIMULINK. Furthermore, the joint tracking accuracy of the two controllers and the influence of RL controller parameters on tracking accuracy were studied by simulation experiment. The results indicate that the joint angle and joint angular velocity tracking accuracy of RL controller are higher than that of PID controller. In addition, appropriate parameters (c1, c2, k, ε, ϕ) can improve the tracking accuracy of VSLLERR.

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Acknowledgments

This work is supported by the Science And Technology Bureau Of Leshan Town (Design of a Multi-posture Lower Limb Rehabilitation Robot Based on the D-H Method and TRIZ Theory), China.

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Authors and Affiliations

  1. Department of Automation Engineering, The Engineering & Technical College, Chengdu University of Technology, Leshan, 614000, China

    Ruqiang Mou

  2. Substation Operation and Maintenance Department, State Grid Leshan Power Supply Company, Leshan, 614000, China

    Le Li

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  1. Ruqiang Mou
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  2. Le Li
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Correspondence to Ruqiang Mou.

Additional information

Ruqiang Mou is a lecturer in the Department of Automation Engineering, Engineering & Technical College of Chengdu University of Technology, Leshan, China. He received his M.D. in Mechatronic Engineering from Sichuan University in 2016. His research interests include robot mechanism and control, vehicle dynamics and vibration control, mechatronics design.

Le Li is an engineer of the Substation Operation and Maintenance Department, State Grid Leshan Power Supply Company, Leshan, China. She received her M.D. in Electrical Engineering from Sichuan University in 2016. Her research interests include intelligent robots, power patrol robots, predictive control.

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Mou, R., Li, L. Research on design and trajectory tracking control of a variable size lower limb exoskeleton rehabilitation robot. J Mech Sci Technol 38, 389–400 (2024). https://doi.org/10.1007/s12206-023-1232-9

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  • DOI: https://doi.org/10.1007/s12206-023-1232-9

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