Assistive Robot Design for Lower Limbs Rehabilitation Using Fuzzy Control

This paper proposed an assistive robot design for lower limbs rehabilitation using fuzzy control. A robot is developed to rejuvenate stroke patients’ nervous system of motor function by exercising their lower limb appropriately, to slow down motor function degradation, rebuild or strengthen the patient's motor function. Thus, the motion of robot must be driven from the sole of the patient and the shank of the patient must remain horizontal when knee joint is flexed. To achieve this target, discrete-time fuzzy control methodology has been used to design a controller for the stability of the robot system. Finally, the preliminary experimental results show the effectiveness of rehabilitation of the stroke patients using this assistive robot.