Abstract
This chapter focuses on a multi-input-multi-output (MIMO) sliding mode (SM) controller which is aimed to simultaneously control the angular trajectory and compliance of the GAit Rehabilitation Exoskeleton (GAREX). The MIMO controller is developed based on the complete model of GAREX system which consists of four sub-system models. They are flow dynamics of the valves, pressure and force dynamics of the antagonistic pneumatic artificial muscles, as well as the load dynamics of the exoskeleton. Experiments with and without healthy subjects are conducted a GAREX to validate the developed SM controllers. The experimental results indicate good multivariable tracking performance of this controller.
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