Rehabilitation with lower limb exoskeleton robot joint load adaptive server control

Abstract

In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia, so driving joints was designed based on fuzzy control. Load adaptive servo controller makes the robot in rows, counter rotating torque moment of inertia of change and change has a better adaptability, and improves the smoothness of joint movement. This method was tested and the test on SIAT exoskeletons, verify the feasibility of joint adaptive control algorithm.