Optimally Initialized Model Reference Adaptive Controller of Wearable Lower Limb Rehabilitation Exoskeleton

A wearable lower-limb rehabilitation exoskeleton functions to fulfill the recovery process of limb functionality and assist physiotherapists. This paper presents an optimized adaptive control system for a exoskeleton. The tuning controller gains is defined as optimization problem closed-loop robot by genetic algorithm particle swarm optimization. We presented novel initialized model reference (IMRAC) real-time joint trajectory tracking, in which are adjusted gradient-based method. An experimental test 4-degree freedom was carried out observe performance IMRAC bipedal human walking. statistical comparison between MRAC shows efficient robustness our proposed method tracking real time.