Advanced Method for Motion Control of a 3 DOFs Lower Limb Rehabilitation Robot


  • Thanh Bui Trung Hung Yen University of Technology and Educaation
  • Gam Le Thi Hong Thai Nguyen University of Education, Thai Nguyen City, Vietnam
  • Quan Dam Hai Thai Nguyen College of Economics and Finance, Thai Nguyen City, Vietnam
  • Ngoc Pham Van Bach VietNam Academy of Science and Technology, Ha Noi, Vietnam



Rehabilitation robot, compensate gravity, motion control, inverse dynamic


This paper presents two motion control methods for a lower limb rehabilitation robot based on compensate gravity proportional-derivative and inverse dynamic proportional-derivative (PD) control algorithms. The Robot’s mechanism is comprised of three active joints: hip joint, knee joint and ankle joint, which are driven by DC motors. Firstly, based on Robot’s mechanism, a dynamic model of the Robot is built. Then, based on Robot’s model, motion control systems for Robot are designed. Simulation results show good performances and workability of these proposed controllers. Finally, the calculation of the joint angle errors and toque of each controller is performed. The comparison of simulation results between proposed controllers and the adaptive fuzzy controller allows to choice suitable motion control methods for Robot that can meet the requirements of a 3 DOFs lower limb rehabilitation robot for post-stroke patient.


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How to Cite

Bui Trung, T., Le Thi Hong, G., Dam Hai, Q., & Pham Van Bach, N. (2019). Advanced Method for Motion Control of a 3 DOFs Lower Limb Rehabilitation Robot. International Journal of Innovative Technology and Interdisciplinary Sciences, 2(4), 316–325.