Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control
This article addresses the design of a robust inner and outer loop controller for active gait retraining in individuals with leg motor weakness, using a lower limb exoskeleton with elastic joints. The proposed control algorithm for the inner loop is based on a robust force controller that considers...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/7/4032 |
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| author | Yukio Rosales-Luengas Sergio Salazar Saúl J. Rangel-Popoca Yahel Cortés-García Jonathan Flores Rogelio Lozano |
| author_facet | Yukio Rosales-Luengas Sergio Salazar Saúl J. Rangel-Popoca Yahel Cortés-García Jonathan Flores Rogelio Lozano |
| author_sort | Yukio Rosales-Luengas |
| collection | DOAJ |
| description | This article addresses the design of a robust inner and outer loop controller for active gait retraining in individuals with leg motor weakness, using a lower limb exoskeleton with elastic joints. The proposed control algorithm for the inner loop is based on a robust force controller that considers dynamics in the sagittal plane, accounting for human and external perturbations. For the outer loop, a robust controller is proposed to ensure the tracking of the desired trajectories. Lyapunov candidate functions are used to demonstrate the stability of the closed-loop system. To validate the proposed algorithmic approach, numerical simulations and experimental tests are developed. The experimental results show excellent performance, even in the presence of external perturbations and opposing human reactions; the tracking error is minimal (MAE ≤ 0.0661 rad). |
| format | Article |
| id | doaj-art-d6fd0015c1ea4777b8d8c2ed08ee99fc |
| institution | OA Journals |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-d6fd0015c1ea4777b8d8c2ed08ee99fc2025-08-20T02:09:13ZengMDPI AGApplied Sciences2076-34172025-04-01157403210.3390/app15074032Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force ControlYukio Rosales-Luengas0Sergio Salazar1Saúl J. Rangel-Popoca2Yahel Cortés-García3Jonathan Flores4Rogelio Lozano5Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, MexicoDepartment of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, MexicoDepartment of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, MexicoDepartment of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, MexicoDepartment of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, MexicoDepartment of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, MexicoThis article addresses the design of a robust inner and outer loop controller for active gait retraining in individuals with leg motor weakness, using a lower limb exoskeleton with elastic joints. The proposed control algorithm for the inner loop is based on a robust force controller that considers dynamics in the sagittal plane, accounting for human and external perturbations. For the outer loop, a robust controller is proposed to ensure the tracking of the desired trajectories. Lyapunov candidate functions are used to demonstrate the stability of the closed-loop system. To validate the proposed algorithmic approach, numerical simulations and experimental tests are developed. The experimental results show excellent performance, even in the presence of external perturbations and opposing human reactions; the tracking error is minimal (MAE ≤ 0.0661 rad).https://www.mdpi.com/2076-3417/15/7/4032robust force controllersliding mode controlgait retraininglower limb exoskeleton |
| spellingShingle | Yukio Rosales-Luengas Sergio Salazar Saúl J. Rangel-Popoca Yahel Cortés-García Jonathan Flores Rogelio Lozano Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control Applied Sciences robust force controller sliding mode control gait retraining lower limb exoskeleton |
| title | Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control |
| title_full | Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control |
| title_fullStr | Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control |
| title_full_unstemmed | Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control |
| title_short | Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control |
| title_sort | active gait retraining with lower limb exoskeleton based on robust force control |
| topic | robust force controller sliding mode control gait retraining lower limb exoskeleton |
| url | https://www.mdpi.com/2076-3417/15/7/4032 |
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