A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot

Abstract

Exoskeletons are the most efficient devices used to help children, suffering from several diseases, to walk compared to the use of wheelchairs. In rehabilitation, relearning to walk is very important. In fact, repetitive tasks improve human locomotory performances. This paper aims to deal with the control problem of a two degrees of freedom lower limb exoskeleton. During the control process, high torques are considered as a major constraint. Thus, a fuzzy sliding mode controller is implemented. Moreover, stability analysis are presented using Lyapunov theory.