N/A

This research represents a 5 degree of freedom (DOF) wearable lower body exoskeleton with a model-based compensation control framework to support hip-knee rehabilitation. Each exoskeleton leg is a 2 DOF 2D manipulator robot. To design the rehabilitation tasks, we use the function approximation technique (FAT) based adaptive control on each 2 DOF leg for position control, and a compliance control for 1 DOF upper part motor to lift the body according to the ground contact force estimated by disturbance observer. The exoskeleton control movement was realized by designing trajectory for leg movement and using FAT based adaptive control as the position control without acceleration feedback and system dynamics, so the natural system dynamics can be adaptively compensated. According to the simulation result, the disturbance observer can successfully estimate ground contact force with acceptable error as the force input to the compliance control applied in 1 DOF motor to lift the main body when performing walking sequence on treadmill. FAT based adaptive control represents the better performance than the conventional proportional derivative (PD) control. Moreover the FAT based adaptive control is capable of dealing with different subject without any changes in control parameters.

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