Disturbance Observer-Based Patient-Cooperative Control of a Lower Extremity Rehabilitation Exoskeleton

다국어 초록 (Multilingual Abstract)

Many patients with stroke are suff ering lower limb locomotor dysfunctions all over the world. Body weight supported treadmilltraining has proven to be an eff ective post-stroke rehabilitation training method for these people’s recovery. Nowadays,lower extremity rehabilitation exoskeleton composed of a pair of mechanical legs has been introduced into body weightsupported treadmill training, which can guide and assist the movements of the patient’s legs. However, active movementsof the patient are hardly to be achieved when the rehabilitation exoskeleton is controlled by a commonly utilized positionbasedpassive strategy. Considering the restriction above, a weight supported rehabilitation training exoskeleton device wasdesigned in this paper to ensure the stroke patient can participate in rehabilitation training voluntarily. To realize this goal,a patient-cooperative rehabilitation training strategy based on adaptive impedance control is adopted for the swing phase inthe training. Human–exoskeleton interaction torques are evaluated by a backpropagation neural network and a disturbanceobserver whose stability is proved by Lyapunov’s law. With no additional demand of interaction torque sensors, the complexityof this system is simplifi ed and the cost is reduced. In order to promote the involvement of patient during the rehabilitationtraining, fuzzy algorithm is used to adjust the impedance parameters according to the human–exoskeleton interaction torques.
The eff ectiveness of the whole rehabilitation control strategy is demonstrated by experimental results.

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