An Adaptive Controller Design Based on Invertibility Decoupling for Lower Extremity Rehabilitation Robot

Robot-aided treadmill training has become increasingly common in patients after stroke or spinal cord injury, in this article, an adaptive controller designed by invertibility decoupling method is used for Lower Extremity Rehabilitation Robot (LERR). Firstly, the dynamic model of LERR is decoupled into three independent second-order integral subsystems using the nonlinear inverbility decoupling theory. Secondly, the adaptive control strategy is further studied for the gait trajectory adaptation based on decoupled second-order integral subsystems. Finally, the performance of the designed adaptive controller is verified in the MATLAB/Simulink-Adams co-simulation environment and the experimental result shows that, the proposed adaptive controller achieves successfully a good tracking performance of the gait trajectory.