Abstract
This paper presents the application of the sliding mode controller to simulate the control of a 3 Degree of Freedom (DoF) robot model that supports lower extremity rehabilitation exercises for stroke patients. The 3 DoF robot model has an established dynamic differential equation for each joint. This paper studied the response of links of the research model with a sliding mode controller proposed as the control solution. Matlab software was used in simulations of ankle, knee, and hip joints' drive for 2 cases, without and with load. Compared with other studies, the research results show that the sliding controller results in slight angular errors when applied to the research model, while the torque of the joints remains low. This result is the basis for calculating and selecting parameters for the actuator when manufacturing the actual equipment.
Highlights
According to the World Health Organization (WHO), worldwide, each year 15 million people suffer a stroke, of which 5 million die and 5 million become permanently disabled [1]
This paper introduces a research model to contribute to the creation of lower limb rehabilitation equipment
The advantage of this study is that we have created a controller that is not affected by external forces, which makes the device response stable, which is essential in the rehabilitation setting for patients
Summary
According to the World Health Organization (WHO), worldwide, each year 15 million people suffer a stroke, of which 5 million die and 5 million become permanently disabled [1]. Different researches have been done to develop robotic devices for rehabilitation, especially for the neurorehabilitation of poststroke patients [3]. In this study a controller is designed for an exoskeleton rehabilitation robot, performing different passive, assistive, and resistive therapeutic exercises [4]. Research and manufacturing of equipment to support rehabilitation exercises for stroke patients have achieved certain achievements [5,6]. The PID controller is widely applied [7], especially in robot control, to support rehabilitation for stroke patients with the advantages of simple and easy to control structure [8]. We introduce the sliding mode controller for the research model This controller has the advantage of being less affected by load changes. It is necessary to overcome the chattering phenomenon of the controller
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