Design and Robust Control of a 2 DOFs Lower Limb Exoskeleton

摘要: For the past few decades, robotic exoskeletons have been subject of extensive research in laboratories. The level performance and reliability these systems has steadily increased. Today, applications involve neuromotor rehabilitation and, more marginally, support for patients suffering from motor impairments. In this context, we designed built a motorized exoskeleton with two degrees freedom functional lower limbs. design was developed taking into account different constraints related to anatomy human being limb kinematic-static compatibility transparency structure. Elastic actuators, which combine deformable elements conventional DC motors produced associated mechanical electronic part also instrument control joints exoskeleton. After modeling, synthesized implemented several approaches, namely PID Twisting second order sliding mode. results obtained showed capacity perform walking cycles its robustness regard external disturbances.