The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

• Main Authors: Anwar, P. P. Abdul Majeed, Zahari, Taha, A. F. Z., Abidin, Muhammad Aizzat, Zakaria, Ismail, Mohd Khairuddin, M. A. M., Razman, Z., Mohamed
• Format: Conference or Workshop Item
• Language: English
• Published: Elsevier 2017
• Subjects: TS Manufactures
• Online Access: http://umpir.ump.edu.my/id/eprint/17105/7/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf; http://umpir.ump.edu.my/id/eprint/17105/; https://doi.org/10.1016/j.procs.2017.01.204

This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exos...