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Academic Journal of Engineering and Technology Science, 2024, 7(4); doi: 10.25236/AJETS.2024.070409.

Design and Control of Lower Limb Rehabilitation Exoskeleton Based on Simulink


Rui Gong1, Ruiyao Li2, Siyi Zuo3

Corresponding Author:
Rui Gong

1School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China

2School of Computer Science and Artificial Intelligence, Wuhan University of Technology, Wuhan, China

3School of Management, Wuhan University of Technology, Wuhan, China


To support the research of walking assistance and rehabilitation equipment for elderly stroke patients, a lower limb rehabilitation exoskeleton robot structure is designed to address the degree of freedom and joint layout difficulties in current serial humanoid lower limb rehabilitation exoskeletons. A simulation model was built using Matlab/Simulink and auxiliary plugins, with corresponding PID and fuzzy PID controllers designed and dynamic tuning of PID parameters carried out. To evaluate the controller’s anti-interference performance more accurately, a method for simulating patient spasticity as an evaluation experiment was proposed. The performance of the controller under two different assessment methods was compared and analyzed, showing that assessing through simulated patient spasticity can better stimulate the adaptive ability of the controller, which analyzes its protective effect on patients and helps optimize the control algorithm design and performance evaluation of lower limb rehabilitation exoskeletons.


stroke; movement rehabilitation; lower limb rehabilitation exoskeleton robot; fuzzy PID control; Simulink; control system simulation; performance evaluation

Cite This Paper

Rui Gong, Ruiyao Li, Siyi Zuo. Design and Control of Lower Limb Rehabilitation Exoskeleton Based on Simulink. Academic Journal of Engineering and Technology Science (2024) Vol. 7, Issue 4: 53-64. https://doi.org/10.25236/AJETS.2024.070409.


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