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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