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Vol. 161, Issue 12, December 2013, pp. 192-197




An Adaptive Controller Design Based on Invertibility Decoupling for Lower Extremity Rehabilitation Robot
* Feng Li, Zhizheng Wu, Jinwu Qian

Department of Precision Mechanical Engineering, Shanghai University, 200072, China

* Tel.: +8613501659272

* E-mail: lifenggold@163.com


Received: 10 October 2013   /Accepted: 22 November 2013   /Published: 30 December 2013

Digital Sensors and Sensor Sysstems


Abstract: Robot-aided treadmill training has become increasingly common in patients after stroke or spinal cord injury. In this paper, an adaptive controller designed by invertibility decoupling method is used for Lower Extremity Rehabilitation Robot (LERR). Firstly, the dynamic model of LERR is decoupled into three independent second-order integral subsystems using the nonlinear inverbility decoupling theory. Secondly, the adaptive control strategy is further studied for the gait trajectory adaptation based on decoupled second-order integral subsystems. Finally, the performance of the designed adaptive controller is verified in the MATLAB/Simulink-Adams co-simulation environment and the experimental result shows that the proposed adaptive controller achieves successfully a good tracking performance of the gait trajectory.


Keywords: Lower Extremity Rehabilitation Robot, Invertibility decoupling, Adaptive control strategy.


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