Rehabilitation robot following motion control algorithm based on human behavior intention

Abstract In response to the current problem of low intelligence mobile lower limb motor rehabilitation aids. This paper proposes an intelligent control scheme based on human movement behavior in order robot follow patient’s movement. Firstly, a multi-sensor data acquisition system is designed according needs patient and characteristics body. A mathematical model then established. By analyzing processing motion data, change center gravity body intention signal are derived used as command for body’s Secondly, improve effect following motion, adaptive radial basis function neural network sliding mode controller (ARBFNNSMC) dynamic model. The adjustment switching gain coefficient performed by network. can overcome influence caused parameters due fluctuation body, enhance adaptability other disturbance factors, accuracy motion. Finally, experiment performed. experimental results show that recognize perform training goal different subjects complete straight lines curves. correctness algorithm verified, which shows feasibility method proposed this paper.