Simulation And Control Of A Servo-Hydraulic Exoskeleton For Human Gait Rehabilitation

Following certain incidents and diseases, a patient may need rehabilitation sessions to restore their motor system. In these sessions, the therapist prescribes physical movements for the patient, but performing these exercises poses various challenges. To address this issue, rehabilitation robots, particularly exoskeletons, are an efficient option. Designing the control and interaction of these robots involves multiple challenges, including the selection and control of suitable actuators. This paper simulates an exoskeleton robot with hydraulically actuated joints controlled in a closed-loop manner. The reason for using a hydraulic system is to create smooth, slow, and powerful movements required for rehabilitation exercises. The desired inputs are the joint angles of a human leg during natural walking, which must be tracked by the control and actuation system. A servo hydraulic controller based on PID is designed to generate the necessary force to actuate the hydraulic valves. The mechanical design of this robot is made to match the real dimensions of human limbs. In this paper, we link MATLAB and Adams software using MATLAB's servo hydraulic toolbox to connect the control unit to the Adams simulator, and evaluate the success of this design accordingly.

کلیدواژه ها:

Exoskeleton robot ، hydraulic actuator ، servo hydraulics ، Adams software