Development and Fuzzy Sliding Mode Compensation Control of a Power Assist Lower Extremity Exoskeleton

Xinliang LU, Fengpo DU, Xingsong WANG, Shan JIA, Fengyu XU


This paper presents a power assist lower extremity exoskeleton and a fuzzy sliding mode compensation controller. First, the mechanical design of this exoskeleton and the control configuration are introduced. Second, the dynamics of lower extremity exoskeleton is analyzed and the sliding mode controller with fuzzy compensation algorithm under uncertainties for exoskeleton joints is proposed. The theoretical proof shows that it is globally stable in the sense of Lyapunov. The experiments indicate that the proposed control scheme is effective; not only it ensures the control accuracy but also is robust to external uncertainties compared with PID control.



exoskeleton; sliding mode;fuzzy control; compensation;robotics,

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Print ISSN: 1392-1207
Online ISSN: 2029-6983