Taha Zahari, Abdul Majeed Anwar P P, Zainal Abidin Amar Faiz, Hashem Ali Mohammed A, Khairuddin Ismail Mohd, Deboucha Abdelhakim, Wong Paul Tze Mohd Yashim
Innovative Manufacturing, Mechatronics and Sports Laboratory (iMAMS), Faculty of Manufacturing Engineering, Universiti Malaysia Pahang, 26600 Pekan, Pahang, Malaysia.
Innovative Manufacturing, Mechatronics and Sports Laboratory (iMAMS), Faculty of Manufacturing Engineering, Universiti Malaysia Pahang, 26600 Pekan, Pahang, Malaysia, Phone: +609 424 6358, Fax: +609 424 5888.
Biomed Tech (Berl). 2018 Jul 26;63(4):491-500. doi: 10.1515/bmt-2016-0039.
Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton.
由于对康复服务的需求不断增加，机器人技术已被用于解决传统康复治疗的弊端。本文重点研究了一种用于步态康复的三连杆下肢外骨骼在矢状面内的建模与控制。该外骨骼与人体下肢模型一起建模，在执行关节空间轨迹跟踪时，其关节受到多种激励，以研究所提出的控制器在补偿干扰方面的有效性。提出了一种粒子群优化的主动力控制策略，以促进对传统比例 - 微分（PD）控制算法的干扰抑制。与传统的PD控制算法相比，仿真研究深入了解了所提出方法在减弱干扰影响方面的鲁棒性，同时不影响其跟踪性能。该研究结果进一步表明了其在下肢外骨骼上的潜在应用。
