Proposing to Use Backstepping Controller for Sitting/Lying Type Lower Limb Rehabilitation Robot

The WHO predicts that by 2050 the total number of elderly people will double, accompanied by an increase in related diseases. As life becomes more modern and convenient, the average age lengthens and the number of elderly people increases. The post-injury rehabilitation process has been developed for many years, but the human resources for that process are too small, leading to a situation where many patients do not receive proper treatment. From there, we see an essential need for lower limb rehabilitation. This study focuses on studying the controller for the sitting/lying rehabilitation robot being developed. The research process starts from collecting documents on robot control models for lower limb rehabilitation and the most suitable input trajectories. The research processed starts from collecting documents on robot control models for lower limb rehabilitation and the most suitable input trajectories. After that, the research would go into applying the Backstepping control method to the Robot, through fine-tuning the coefficients and experimenting with different step cycles. These experimental results are compared with the case of using PID controller and Backstepping controller, showing significantly better quality.