Lyapunov Based Robust Control for Tracking Control of Lower Limb Rehabilitation Robot with Uncertainty

This study designs a control of two-degree of freedom lower limb rehabilitation robot (LLRR) for the patient who needs the proper physical therapy after a spinal cord injury (SCI), stroke, or a surgical operation. The robot manipulator can perform specified passive exercises as well as copy exercise motions and perform them without the physiotherapist. Specifically, the uncertainties including the model uncertainty, initial condition deviation...