Trajectory Deformation-Based Multi-Modal Adaptive Compliance Control for a Wearable Lower Limb Rehabilitation Robot.

Adaptive compliance control is critical for rehabilitation robots to cope with the varying rehabilitation needs and enhance training safety. This article presents a trajectory deformation-based multi-modal adaptive compliance control strategy (TD-MACCS) for a wearable lower limb rehabilitation robot (WLLRR), which includes a high-level trajectory planner and a low-level position controller. Dynamic motion primitives (DMPs) and a trajectory deformation algorithm (TDA) are integrated into the high-level trajectory planner, generating multi-joint synchronized desired trajectories through physical human-robot interaction (pHRI).

Spatiotemporal Compliance Control for a Wearable Lower Limb Rehabilitation Robot.

Compliance control is crucial for physical human-robot interaction, which can enhance the safety and comfort of robot-assisted rehabilitation. In this study, we designed a spatiotemporal compliance control strategy for a new self-designed wearable lower limb rehabilitation robot (WLLRR), allowing the users to regulate the spatiotemporal characteristics of their motion. The high-level trajectory planner consists of a trajectory generator, an interaction torque estimator, and a gait speed adaptive regulator, which can provide spatial and temporal compliance for the WLLRR.

A triple-step controller with linear active disturbance rejection control for a lower limb rehabilitation robot.

Lower limb rehabilitation robots (LLRRs) have shown promising potential in assisting hemiplegic patients to recover their motor function. During LLRR-aided rehabilitation, the dynamic uncertainties due to human-robot coupling, model uncertainties, and external disturbances, make it challenging to achieve high accuracy and robustness in trajectory tracking. In this study, we design a triple-step controller with linear active disturbance rejection control (TSC-LADRC) for a LLRR, including the steady-state control, feedforward control, and feedback control.