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A robust control strategy applying to omnidirectional lower limbs rehabilitation robot during centre-of-gravity shift

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3 Author(s)
Ying Jiang ; Sch. of Electr. Eng., Shenyang Univ. of Technol., Shenyang, China ; Baodong Bai ; Junyou Yang

Motion control of mobile rehabilitation robot during centre-of-gravity shift is an intrinsic problem with mechanism. This paper deals with the motion control of an omnidirectional lower limbs rehabilitation robot during centre-of-gravity shift. The main research contents of this paper consist of two parts: 1) The dynamic model that considered centre-of-gravity position is integrated within the control framework. 2) A robust control strategy is developed and used to achieve the desired trajectories. Simulation tests are performed and demonstrate the feasibility and efficacy of the proposed method.

Published in:

Control and Decision Conference, 2009. CCDC '09. Chinese

Date of Conference:

17-19 June 2009