Performance Analysis of a Robust Controller with Neural Network Algorithm for Compliance Tendon–Sheath Actuation Lower Limb Exoskeleton

摘要

Robotic rehabilitation of the lower limb exoskeleton following neurological injury has proven to be an effective rehabilitation technique. Developing assistive control strategies that achieve rehabilitative movements can increase the potential for the recovery of the motor coordination of the participants. In this paper, the innovative contributions are to investigate a robust sliding mode controller (SMC) with radials basis function neural network algorithm (RBFNN) compensator for a novel compliance tendon–sheath actuation lower limb exoskeleton (CLLE) to provide intrinsic thigh and shank rehabilitation training. The controller employing the RBFNN compensator is proposed to reduce the impact of friction from the compliance tendon–sheath actuation system (CTSA). In the design of the compensator, a single parameter is investigated to replace the weight information of the neural network. Our proposed controller is shown to yield fast, stable, and accurate control performance regardless of uncertainties interaction. Two additional algorithms, including a robust adaptive sliding mode controller (RASMC) and a sliding mode proportional-integral controller (SMPIC), are introduced in this paper for comparison. The simulations were presented with MATLAB/SIMULINK to validate the superiority of the performance of the proposed controller.