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Output Tracking Performance of Active Exoskeleton Robot Using Sliding Mode Control

[ Vol. 14 , Issue. 2 ]


Anan Suebsomran*   Pages 242 - 251 ( 10 )


Background: Assistive exoskeleton robot is required to improve the control of exoskeleton joints. The robust response of all joint controls is planned to improve the performance of joint tracking control. Recent patents of an assistive exoskeleton robot concern to explore the system design and integration have been used.

Objective: To design and improve the control performance to gain more stability locomotion of exoskeleton device by using the Sliding Mode Control (SMC) technique, and to explore the recent patents of assistive exoskeleton robots and methods.

Methods: The recent patents of assistive exoskeleton robots were investigated in this research. The trajectory generation of the gait cycle was approximated using a polynomial equation of the ninth order in the curve fitting of the Human Clinical Gait Cycle (CGC) of lower limb joints. The position and velocity control along the gait cycle were controlled using SMC methods. The robust design of controller performance of position and velocity control for each joint was established via design simulation in three cases.

Results: The output tracking performance of hip, knee, and ankle joint’s position and velocity shows the controller performance. Three cases of control design study are validated by simulation methods.

Conclusion: The SMC controller significantly improves the motion control of the exoskeleton robot, even with disturbance affecting the system. Thus, it is robust to external forces with humans in the loop system. The steepest command trajectory will cause a lower output tracking response and vice versa.


Assistive exoskeleton robot, clinical gait cycle, controller design, gait cycle generation, mechanism design, robust control, simulation, sliding mode control.


Department of Teacher Training in Mechanical Engineering, King Mongkut's University of Technology North Bangkok, 1518 Pracharaj 1 Rd., Bangsue, Bangkok 10800

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