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Design and Robust Motion Control of a Planar 1P-2P RP Hybrid Manipulator for Lower Limb Rehabilitation Applications

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Abstract

This paper addresses a robust motion control design of a planar 1P-2P RP hybrid manipulator for performing the lower limb rehabilitation treatments. The effectiveness and performances of the proposed system along with the motion control scheme is demonstrated using the real-time experiments. Further the robustness and sensitivity of the proposed control scheme is analyzed under different working conditions. In addition, the applicability of the proposed system is demonstrated successfully on an in-house fabricated prototype as a continuous passive sitting type lower limb rehabilitation mechanism in terms of clinical gait pattern generation and the gait-tracking task.

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Authors and Affiliations

  1. Robotics Application Engineer - Technical Lead, Kawasaki Heavy Industries Pvt Ltd, Chennai, India

    M. Vasanthakumar

  2. Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    B. Vinod

  3. Discipline of Mechanical Engineering, Indian Institute of Technology Indore, Indore, India

    J. K. Mohanta & S. Mohan

Authors
  1. M. Vasanthakumar
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  2. B. Vinod
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  3. J. K. Mohanta
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  4. S. Mohan
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Corresponding author

Correspondence to S. Mohan.

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(NOTE: Here P stands for Prismatic and R stands for rotary joint, underline indicates the actuated or powered joint)

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Vasanthakumar, M., Vinod, B., Mohanta, J.K. et al. Design and Robust Motion Control of a Planar 1P-2P RP Hybrid Manipulator for Lower Limb Rehabilitation Applications. J Intell Robot Syst 96, 17–30 (2019). https://doi.org/10.1007/s10846-018-0972-8

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  • DOI: https://doi.org/10.1007/s10846-018-0972-8

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