A PID Control System for Lower-Limb Rehabilitation Robot with a Function for Pedal Torque Estimation

This article presents a proportional integral derivative (PID) control system for lower-limb rehabilitation robot that not only features satisfactory control performance for the pedal angle but also provides a function for pedal torque estimation. Nonlinear state feedback simplifies the stability an...

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Bibliographic Details
Published in:Journal of advanced computational intelligence and intelligent informatics Vol. 29; no. 6; pp. 1517 - 1529
Main Authors: Jing, Yue, Wang, Zewen, Wu, Qiwei, She, Jinhua, Kawata, Seiichi
Format: Journal Article
Language:English
Published: Tokyo Fuji Technology Press Co. Ltd 20.11.2025
Subjects:
Ankle
Closed loops
Control systems design
Controllers
Design
Disturbance observers
Feedback control
Hip joint
Informatics
Knee
Liapunov functions
Patients
Proportional integral derivative
Rehabilitation robots
Robots
Sensors
Signal processing
Stability analysis
State feedback
State observers
Torque
ISSN:1343-0130, 1883-8014
Online Access:Get full text
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Summary:This article presents a proportional integral derivative (PID) control system for lower-limb rehabilitation robot that not only features satisfactory control performance for the pedal angle but also provides a function for pedal torque estimation. Nonlinear state feedback simplifies the stability analysis and control system design. The stability condition of the closed-loop system is derived based on a Lyapunov function. The PID controller ensures that the pedal angle tracks the reference trajectory. The equivalent input disturbance (EID) method in the control system was compared with the disturbance observer (DOB) and extended state observer (ESO) methods in terms of pedal torque estimation performance. The simulation results indicated that the EID method achieved a root mean square error of 0.37 N·m with 47.6% and 51.8% improvements over the DOB and ESO methods.
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ISSN:1343-0130
1883-8014
DOI:10.20965/jaciii.2025.p1517