Research on adaptive trajectory following of lower limb rehabilitation exoskeleton based on sliding mode control

In order to improve the exoskeleton follow-up performance and avoid the secondary pull injury caused by poor follow-up performance during passive rehabilitation, the passive rehabilitation effect is not good. Accordingly, a robust sliding mode adaptive control law is proposed to improve the following performance. Firstly, the dynamic equation with disturbance is established based on the simplified two-link model of human lower limbs. Secondly, the lower limb rehabilitation exoskeleton control model is established based on robust sliding mode adaptive control law. Finally, the motion control system is built using Simulink, and the main control program is written in Matlab to analyze the tracking performance and adaptive characteristics of the lower limb joints based on the control law for specific trajectories. The simulation results show that the control law has good following performance, strong resistance to external interference, good adaptability, and significantly improves the performance of rehabilitation exoskeleton.