Active interactive genetic control for lower limb rehabilitation robots with uncertainties

摘要

In this paper, an interactive genetic control design problem is investigated for lower limb rehabilitation robots with uncertainties in active rehabilitation training. In order to ensure the compliant of force, an impedance control strategy based on genetic algorithms is presented to adjust the tracking trajectory. Taking uncertainties into account, a sliding mode PI controller is designed to realize the active rehabilitation training. Compared with traditional methods, the impedance parameters can be calculated online, as well as, the gait trajectory can be adjusted and tracked. Finally, simulation results show the effectiveness of the proposed method.