A hybrid active force control of a lower limb exoskeleton for gait rehabilitation

Zahari Taha, Anwar P.P. Abdul Majeed*, Amar Faiz Zainal Abidin, Mohammed A. Hashem Ali, Ismail Mohd Khairuddin, Abdelhakim Deboucha, Mohd Yashim Wong Paul Tze

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton.

Original languageEnglish
Pages (from-to)491-500
Number of pages10
JournalBiomedizinische Technik
Issue number4
Publication statusPublished - 26 Jul 2018
Externally publishedYes


  • particle swarm optimisation
  • rehabilitation
  • robust
  • trajectory tracking control


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