A Robust Control Strategy Applying to Omnidirectional Lower Limbs Rehabilitation Robot during Centre-of-gravity Shift

Motion control of mobile rehabilitation robot during centre-of-gravity shift is an intrinsic problem with mechanism. This paper deals with the motion control of an omnidirectional lower limbs rehabilitation robot during centre-of-gravity shift. The main research contents of this paper consist of two parts: 1) The dynamic model that considered centre-of-gravity position is integrated within the control framework. 2) A robust control strategy is developed and used to achieve the desired trajectories. Simulation tests are performed and demonstrate the feasibility and efficacy of the proposed method.