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International Conference of Artificial Intelligence, Medical Engineering, Education

AIMEE 2019: Advances in Artificial Systems for Medicine and Education III pp 161–172Cite as

Robust Operational-Space Motion Control of a Sitting-Type Lower Limb Rehabilitation Robot

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1126))

Abstract

This paper presents a robust motion control of a sitting-type lower limb rehabilitation robot (LLRR) in its operational-space. The mathematical background of the proposed robot is discussed and its motion control design in the task-space based on a double-loop control approach is derived herein along with its closed-loop system stability analysis. The motion tracking performance analysis of the proposed scheme is demonstrated using computer based numerical simulations. For numerical simulations and to validate the effectiveness of the motion control strategy, the clinically obtained test gait data is used for the desired motion trajectory of the lower limb rehabilitation robot.

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Acknowledgements

This work was supported by the Russian Science Foundation, the agreement number 19-19-00692.

Author information

Authors and Affiliations

  1. Indian Institute of Technology Palakkad, Palakkad, India

    Santhakumar Mohan

  2. Belgorod State Technological University named after V.G. Shukhov, Belgorod, Russian Federation

    Santhakumar Mohan, Larisa Rybak & Dmitry Malyshev

  3. Indian Institute of Technology Kanpur, Kanpur, 208016, India

    Jayant Kumar Mohanta & Laxmidhar Behera

Authors
  1. Santhakumar Mohan
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  2. Jayant Kumar Mohanta
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  3. Laxmidhar Behera
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  4. Larisa Rybak
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  5. Dmitry Malyshev
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Corresponding author

Correspondence to Dmitry Malyshev .

Editor information

Editors and Affiliations

  1. School of Educational Information Technology, Central China Normal University, Wuhan, Hubei, China

    Zhengbing Hu

  2. Mechanical Engineering Research Institute, Russian Academy of Sciences, Moscow, Russia

    Sergey Petoukhov

  3. Halmos College of Natural Sciences and Oceanography, Nova Southeastern University, Davie, FL, USA

    Matthew He

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Cite this paper

Mohan, S., Mohanta, J.K., Behera, L., Rybak, L., Malyshev, D. (2020). Robust Operational-Space Motion Control of a Sitting-Type Lower Limb Rehabilitation Robot. In: Hu, Z., Petoukhov, S., He, M. (eds) Advances in Artificial Systems for Medicine and Education III. AIMEE 2019. Advances in Intelligent Systems and Computing, vol 1126. Springer, Cham. https://doi.org/10.1007/978-3-030-39162-1_15

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