CPG-based gait planning and model-independent adaptive time-delay control for lower limb rehabilitation exoskeleton robots
Zhe Sun1
Weixin Chen1
Bo Chen1
Hai Wang2
Jinchuan Zheng3
Zhihong Man3
1.College of Information Engineering,Zhejiang Univer2.College of Science,Technology,Engineering and Math3.School of Science,Computing and Engineering Techno
摘要：Focusing on the rehabilitation training of hemiplegia patients,this paper proposes a gait-planning strategy based on a central pattern generator and an adaptive time-delay control scheme that utilizes recursive terminal sliding mode for lower limb rehabilitation exoskeleton robots.The central pattern generator network plans a reference gait trajectory for the affected leg,synchronized with the movement of the healthy leg.The proposed adaptive time-delay control scheme possesses a model-independent property due to the mechanism of time-delay estimation,with adaptive control gains that enhance the resilience against system perturbations and a recursive terminal sliding mode control component to achieve a fast convergence rate.According to the Lyapunov stability criterion,it is proved that the gait trajectory-tracking error is uniformly ultimately bounded.Experiments are conducted on a lower limb exoskeleton experimental platform,and the experimental results demonstrate the effectiveness and superiority of the proposed strategies.
机标关键词：
论文发表日期：2025-12-30
在线出版日期：2026-01-09（本平台首次上网日期，不代表文献的发表时间）
页数：13( 650-662 )
英文信息