Feedback Linearization Control of Lower Limb Exoskeleton Robot for Rehabilitation

Abstract

Stroke is a serious medical condition that affects a large number of people worldwide. Patients who suffer from stroke often experience difficulty in movement, especially in their lower limbs. Rehabilitation is crucial to help stroke patients regain their mobility and quality of life. One promising solution is the use of exoskeleton robots that can assist patients in their recovery process. These robots are designed to mimic the human skeletal system and can help stroke patients regain their natural gait cycle. The proposed solution is an exoskeleton robot that can assist two joints, the hip and knee joints. However, controlling the exoskeleton robot is a challenging task. To address this issue, the feedback linearization control technique was implemented using MATLAB/Simulink. This control technique can ensure that the robot movements are smooth and precise, helping stroke patients regain their natural gait cycle. To validate our proposed control techniques, three different input reference trajectories were used. The simulation results showed the trajectory tracking performance of our controller, demonstrating the effectiveness of our approach. By successfully implementing the feedback linearization control technique, the exoskeleton robot can assist patients in regaining their mobility, leading to improved quality of life. In addition to the rehabilitation benefits, exoskeleton robots have the potential to assist patients in their daily activities, such as walking and running. This can significantly improve the patient’s independence and quality of life. The use of exoskeleton robots can also reduce the burden on healthcare providers by decreasing the need for physical assistance during rehabilitation.