MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles

Cao, J, Xie, S and Das, R 2018, 'MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles', IEEE Transactions on Control Systems Technology, vol. 26, no. 1, pp. 274-281.


Document type: Journal Article
Collection: Journal Articles

Title MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles
Author(s) Cao, J
Xie, S
Das, R
Year 2018
Journal name IEEE Transactions on Control Systems Technology
Volume number 26
Issue number 1
Start page 274
End page 281
Total pages 8
Publisher IEEE
Abstract In the past decade, pneumatic muscle (PM) actuated rehabilitation robotic devices have been widely researched, mainly due to the actuators' intrinsic compliance and high power to weight ratio. However, the PMs are highly nonlinear and subject to hysteresis behavior. Hence, robust trajectory and compliance control are important to realize different training strategies and modes for improving the effectiveness of the rehabilitation robots. This paper presents a multi-input-multioutput sliding mode controller, which is developed to simultaneously control the angular trajectory and compliance of the knee joint mechanism of a gait rehabilitation exoskeleton. Experimental results indicate good multivariable tracking performance of this controller, which provides a good foundation for the further development of assist-as-needed training strategies in gait rehabilitation.
Subject Dynamics, Vibration and Vibration Control
Solid Mechanics
Keyword(s) Gait rehabilitation
pneumatic muscle (PM) actuators
sliding mode (SM) control
DOI - identifier 10.1109/TCST.2017.2654424
Copyright notice © 2017 IEEE.
ISSN 1063-6536
Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 9 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 0 times in Scopus Article
Altmetric details:
Access Statistics: 9 Abstract Views  -  Detailed Statistics
Created: Thu, 31 Jan 2019, 11:26:00 EST by Catalyst Administrator
© 2014 RMIT Research Repository • Powered by Fez SoftwareContact us