Rhythmic Trajectory Design and Control for Rehabilitative Walking in Patients with Lower Limb Disorder

摘要

Wearable robotic systems have been a mechanism which clearly drives the motive of bringing back paraplegics back on their feet as well as executing difficult task beyond human ability. The purpose of this research study is to design and investigate the efficacy of rehabilitative walking in patients with lower limb disorders using oscillators which may commonly be referred to as central pattern generators (CPGs). In order to achieve this, a rhythmic trajectory is designed using Van der Pol oscillators. This rhythmic trajectory commensurates with the movement pattern of the hips and knees for a normal walking gait of humans. The dynamical model of a five-link biped exoskeletal device having four actuated joints is computed with regard to the wearer using Lagrangian principles in the sagittal plane. A feedback linearization control technique is therefore utilized for tracking the rhythmic trajectory to achieve a proper following of the human walking gait. Matlab/Simulink is used to validate this proposed strategy in the presence of uncertainties with a view to implementing it practically in the laboratory with human in the loop. Results show that humans with the aid of the exoskeleton device will possess the ability to track this rhythmic trajectory representing the hip and knee joint movements. The controller proved robust enough against disturbance.