title: Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton.
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.
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China. Electronic address: scdxhgd@gmail.com.
authors.forename: Yi
authors.initials: Y
authors.lastname: Long
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China.
authors.forename: Zhijiang
authors.initials: Z
authors.lastname: Du
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China.
authors.forename: Lin
authors.initials: L
authors.lastname: Cong
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China.
authors.forename: Weidong
authors.initials: W
authors.lastname: Wang
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China.
authors.forename: Zhiming
authors.initials: Z
authors.lastname: Zhang
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China. Electronic address: dongwei@hit.edu.cn.
authors.forename: Wei
authors.initials: W
authors.lastname: Dong
keywords: Active disturbance rejection control; Extended state observer; Human gait tracking; Lower extremity; Rehabilitation exoskeleton