DEVELOPMENT OF A REHABILITATION ROBOT: MODELING AND TRAJECTORY TRACKING CONTROL

Recently, assistive robots have attracted great attention from researchers in the rehabilitation field. These types of support patients to perform designated movements during a training process. Despite existence commercial systems, growing demands for improvement both hardware and control design are evident. Therefore, this paper introduces prototype pneumatic artificial muscle-based robot named BK-Gait its strategy trajectory tracking purposes. Firstly, brief description mechanism is presented. Secondly, mathematical model robot’s actuator built. Third, an active disturbance rejection (ADRC) developed enhance performance robot. Finally, multi scenarios experiments carried out evaluate applicability proposed controller