Application of the Udwadia-Kalaba approach to tracking control of lower limb rehabilitation robot

This paper presents an explicit dynamic equation of motion of lower limb rehabilitation robot in reference to Udwadia-Kalaba approach and conducts experiment and simulation which verify the effectiveness and availability of the novel approach. Fundamental equation of lower limb rehabilitation robot which considers the resistance of human muscles is deduced according to Udwadia-Kalaba approach. The angle trajectories of hip and knee joints of a...