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Long Y, Du Z, Cong L, et al. Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton. ISA Trans. 2017;67:389-397doi: 10.1016/j.isatra.2017.01.006.
Long, Y., Du, Z., Cong, L., Wang, W., Zhang, Z., & Dong, W. (2017). Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton. ISA transactions, 67389-397. https://doi.org/10.1016/j.isatra.2017.01.006
Long, Yi, et al. "Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton." ISA transactions vol. 67 (2017): 389-397. doi: https://doi.org/10.1016/j.isatra.2017.01.006
Long Y, Du Z, Cong L, Wang W, Zhang Z, Dong W. Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton. ISA Trans. 2017 Mar;67:389-397. doi: 10.1016/j.isatra.2017.01.006. Epub 2017 Jan 17. PMID: 28108003.
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ISA Trans. 2017 Mar;67:389-397. doi: 10.1016/j.isatra.2017.01.006. Epub 2017 Jan 17.

Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton.

ISA transactions

Yi Long, Zhijiang Du, Lin Cong, Weidong Wang, Zhiming Zhang, Wei Dong

Affiliations

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China. Electronic address: [email protected].
  2. State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China.
  3. State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China. Electronic address: [email protected].

PMID: 28108003 DOI: 10.1016/j.isatra.2017.01.006

Abstract

This paper presents an active disturbance rejection control (ADRC) based strategy, which is applied to track the human gait trajectory for a lower limb rehabilitation exoskeleton. The desired human gait trajectory is derived from the Clinical Gait Analysis (CGA). In ADRC, the total external disturbance can be estimated by the extended state observer (ESO) and canceled by the designed control law. The observer bandwidth and the controller bandwidth are determined by the practical principles. We simulated the proposed methodology in MATLAB. The numerical simulation shows the tracking error comparison and the estimated errors of the extended state observer. Two experimental tests were carried out to prove the performance of the algorithm presented in this paper. The experiment results show that the proposed ADRC behaves a better performance than the regular proportional integral derivative (PID) controller. With the proposed ADRC, the rehabilitation system is capable of tracking the target gait more accurately.

Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Keywords: Active disturbance rejection control; Extended state observer; Human gait tracking; Lower extremity; Rehabilitation exoskeleton

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