Control of Lower Limb Rehabilitation Exoskeleton for Stroke Patients in Contact Environments

The existence of a Lower limb Rehabilitation exoskeleton as an excellent solution for rehabilitation of lower limbs of stroke patients has been increased in last two decades. One of the fundamental issue in works of rehabilitation robotic devices is the modeling and controlling of lower limb Rehabilitation using suitable and efficient methods. In this chapter, a comparative study has been established between a two computed torque controllers: Classical computed torque controller (CTC) and Robust computed torque controller (RCTC) for controlling lower limb rehabilitation exoskeleton in case of free and contact with ground environments. A Lyapunov theorem has been used for the stability analysis for Robust computed torque controller. Simulation results and values of indices of tracking performances have proved the effectiveness and the robustness of Robust computed torque controller against system uncertainties and external disturbances as compared with classical computed torque controller.