基于滑模面的下肢康复机器人解耦控制方法

o achieve the flexibility and smoothness of physical human-machine interaction, and reduce the approximation error of the coupled system, this paper proposes a decoupling control method based on sliding surface. This method decomposes the human-machine system into multiple subsystems, designs a fuzzy logic system to approximate the coupling parameters in the subsystems, and improves the approximation efficiency. Design a robot control law based on sliding surface. When the system state reaches the sliding surface, the influence of external disturbances on the system will be suppressed, reducing motion jitter and improving the smoothness of robot motion. In addition, the compensation term in the control law is adaptively adjusted using a fuzzy system to improve control accuracy. This method has been applied to lower limb rehabilitation robots and its effectiveness has been verified through simulation and experiments. The results indicate that this method can significantly reduce chattering in the early stages of rehabilitation, effectively reduce approximation errors, and demonstrate good flexibility in human-computer interaction.