Adaptive backstepping sliding mode subject-cooperative control for a pediatric lower-limb exoskeleton robot

摘要

The passive-assist rehabilitation mode with a fixed desired trajectory neglects the subject’s active involvement and degrades the therapeutic performance in case of partial muscle strength. Therefore, this study proposes a novel subject-cooperative control based on a variable admittance control scheme and a robust trajectory control scheme for a pediatric lower-limb exoskeleton robot. Initially, the system description and dynamic modeling are briefly explained. Thereafter, a neural-fuzzy–based variable admittance control ( nf VAC) is designed to incorporate a realistic subject-exoskeleton interaction and consider the subject’s active participation. Finally, a robust adaptive backstepping sliding mode control with rapid reaching law is used to handle parametric uncertainties and external disturbances. A stepwise selection of Lyapunov functions is utilized to address the stability of the trajectory control. The effectiveness of the proposed adaptive backstepping sliding mode–neural-fuzzy variable admittance control (ABSM- nf VAC) scheme is compared with two contrast control schemes, namely, adaptive backstepping-fixed admittance control (AB-FAC) and adaptive terminal sliding mode-fuzzy variable admittance control (ATSM- f VAC) for the active-assist mode with the effect of sudden reflex. Based on the numerical results, the suggested cooperative controller has demonstrated favorable tracking performance, compliant interaction, and safety aspects during gait training.