Adaptive Learning Inertia Control of Lower Limb Exoskeleton Robot

Patients suffering from strokes or other physical trauma have muscular impairments which deny them full control of their lower limbs. Developing a movable, electromechanical frame for said patients is an avenue currently under intensive research. In this study, a preliminary design and control scheme of the proposed Lower Limb Exoskeleton Robot (LLER) has been presented. Keeping in view the device's interaction with a patient, implementing a compliance control scheme in the device is paramount. An adaptive control technique has been proposed by the authors, considering the nonlinear disturbances in the proposed system. Simulation results have been presented to show the effectiveness of the proposed control system.