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| CPG-based gait planning andmodel-independent adaptive time-delay control for lower limb rehabilitation exoskeleton robots |
| ZheSun1,WeixinChen1,BoChen1,HaiWang2,JinchuanZheng3,ZhihongMan3 |
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| (1 College of Information Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang, China;2 College of Science, Technology, Engineering and Mathematics, Murdoch University, Perth, Australia;3 School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Melbourne, Australia) |
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| 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 modelindependent 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 theLyapunov 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. |
| 关键词: Lower limb rehabilitation exoskeleton robot (LLRER) · Central pattern generator (CPG) · Time-delay estimation (TDE) · Sliding mode control (SMC) |
| DOI：https://doi.org/10.1007/s11768-025-00260-y |
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| 基金项目:This work was supported by the National Natural Science Foundation of China (62473337, 62003305), the Key Research and Development Program of Zhejiang Province (2024C03040, 2022C03029), and the funding of Leading Innovative and Entrepreneur Team Introduction Program of Zhejiang Province (2023R01006). |
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| CPG-based gait planning andmodel-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 University of Technology, Hangzhou, Zhejiang, China;2 College of Science, Technology, Engineering and Mathematics, Murdoch University, Perth, Australia;3 School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Melbourne, Australia) |
| Abstract: |
| 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 modelindependent 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 theLyapunov 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. |
| Key words: Lower limb rehabilitation exoskeleton robot (LLRER) · Central pattern generator (CPG) · Time-delay estimation (TDE) · Sliding mode control (SMC) |
