Control of robot-assisted gait trainer using hybrid proportional integral derivative and iterative learning control

<p><span lang="EN-US">An inexpensive exoskeleton of the lower limb was designed and developed in this study. It can be used as a gait trainer for persons with problems. plays an essential role rehabilitation aid patients, it help them improve their physical condition. This paper proposes hybrid controller regulating robot-assisted that uses proportional integral derivative (PID) combined iterative learning (ILC). The direct current motors at hip knee joints are controlled by microcontroller preset pattern trajectories. learn how to monitor trajectory. If trajectory or load is changed, will able follow change. experiment showed PID had smallest overshoot, settling time, responsible system stability. Even if there occasional interruptions, tracking performance improves ILC.</span></p>