Skip to Main Content
This paper aims at the development of the motion control design for a lower-limb mobile training robot that can provide adequate motion functions such as the passive and resistive motions of multiple joints for increasing training performances and for shortening training programs. In this paper, the motion control design includes the design of motion command generator and the design of motion control laws. A parametric curve interpolation algorithm is developed in the design of motion command generator to generate motion commands for the mobile training robot, and the kinematics and force-driven control of two-wheeled mobile robots are used to design the motion control laws. Moreover, by using the developed motion control design, three operation modes: continuous passive motion (CPM) mode, continuous active motion (CAM) mode, and hybrid motion (HM) mode, are designed for the applications of different training programs. Several tests are applied to evaluate the execution performances of the mobile training robot with the developed motion control design, and the experimental results indicate that the training robot is feasible for the applications of lower-limb training and rehabilitation.