Control and Design of the Lower Extremities Exoskeleton Model with Uncertainty

Many diseases related to legs movement or walking are more and more perplexed. In order to help these people, medical science and engineering have been working together to provide solutions to improve people's quality of life. In this case, exoskeleton can improve the effect of rehabilitation according to the design of motor equipment.Based on the Lyapunov stability theory and linear matrix inequality (LMI) method, a control problem of exoskeleton model with uncertainties is studied. Firstly, consider the uncertainty of the system model and analyze it. Secondly, the state feedback controller based on the state observer is designed to ensure the stability of the system. The effectiveness of the system is verified by simulation.

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