Reference Trajectory based Jacobian Transpose Control of a Novel Lower Limb Exoskeleton System for Children

Abstract

In this work, a novel lower limb exoskeleton system is modeled for rehabilitation of children (8–12 years) suffering from weak and damaged nerves. The main aim of this exoskeleton system is to provide motion assistance during walking. To realize the gait trajectory of healthy human child, the IMU sensor (MPU6050) is used to find the joint angle variations of thigh, calf and foot. Dynamic analysis of the system is formulated with Euler-Lagrange method to find the state space equations. Thereafter, reference trajectory based Jacobian transpose control strategy is implemented in MATALAB/Simulink to track the required gait trajectory with four different proportional and derivative gains. At the last, the hip, knee and ankle joint control torques and angular velocities are estimated with the outperforming set of gains to track the desired trajectory.