Knee rehabilitation robot control by Sliding-Backstepping and Admittance control

摘要

In this paper, a knee rehabilitation robot will be developed and controlled. The structure of the system containing the robot and some parts of patient body will be described and modeled using Newton-Euler approach. Two controllers containing Admittance and Sliding-Backstepping are composed to control the system. In this hybrid control scheme, the Sliding-Backstepping controller is considered to track the prescribed trajectory commanded by the expert physiotherapist, and the admittance control is considered to produce a soft and smooth interaction between the robot and human leg. The simulation results show the performance of the designed hybrid controller with suggested structure, in presence of involuntary movement of the leg and noisy measured signals.