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Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints

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posted on 2023-06-10, 04:26 authored by Yong Yang, Deqing Huang, Chengwu Jin, Xia Liu, Yanan LiYanan Li
This paper presents neural learning based adaptive impedance control for a lower limb rehabilitation exoskeleton with flexible joints (LLREFJ). First, the full model consisting of both the rigid link and the flexible joint is obtained for the LLREFJ. Second, neural networks are used to compensate for the system uncertainties and external disturbance and an adaptive impedance controller is proposed by establishing an impedance error. In order to improve the control performance and enhance the system robustness, periodic dynamics is considered according to the repetitive motion of the rehabilitation process and handled by a repetitive learning algorithm. Then, the stability of the full system is proved rigorously by Lyapunov methods. Finally, comparative simulation reveals that the designed adaptive neural learning controller has improved the control performance.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

International Journal of Robust and Nonlinear Control

ISSN

1049-8923

Publisher

Wiley

Page range

1-19

Department affiliated with

  • Engineering and Design Publications

Notes

This is the peer reviewed version of the following article: "Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints", which has been published in final form at https://doi.org/10.1002/rnc.6390. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise making available the article or pages thereof by third parties from platforms, services and websites other than Wiley Online Library must be prohibited.

Full text available

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Peer reviewed?

  • Yes

Legacy Posted Date

2022-08-09

First Compliant Deposit (FCD) Date

2022-08-08

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