Modeling and Motion Control for an Exoskeleton Orthosis

Abstract

This paper introduces a newly developing gait rehabilitation orthosis. This device is aimed at reducing the physical demands on the therapist during treadmill training. Dynamic model of the orthosis walking on the treadmill is established and analyzed. Based on developed dynamic system, Computed torque and proportion-differential feedback control algorithm is put forward to realize the trajectory tracking control for the orthosis. The effect of the proposed control method is confirmed by simulation examples. With the control method, the patient is only trained passively and can not influence the motion by himself. In order to improve the patients’ voluntary locomotor capability, advanced control algorithms will be investigated in the future, which result in that the quality of the training is better.