Robust Control of Six-linkage Walking Assistance Rehabilitation Robot

A mechanism model of a six-linkage walking assistant rehabilitation robot is presented to help the aged and hemiplegic patients walk with natural gait.Considering the weight difference among patients and the changes in muscular tension of lower limbs during assisted-walking training,a robust controller with anti-jamming performance is designed based on the robot dynamics analysis.It is proved by Lyapunov theory that the controller can suppress the influence from external interference signals effectively.The robust control experiment results show that the controller can suppress the influence of load variations and uncertain disturbance,