Research on iterative learning control of lower limb exoskeleton of rehabilitation robot

Abstract

It is difficult to establish an accurate mathematical model for the lower limb exoskeleton system of a rehabilitation robot, and there are unknown external disturbances. In this paper, an accurate model-independent closed-loop PD-type iterative learning control algorithm is adopted, which enables the system to track a given desired trajectory with uncertain dynamic models and parameters. The simulation results show that the algorithm can effectively improve the control accuracy of the trajectory tracking of the lower limb exoskeleton.