Research of SMC-UDE Control for Lower Limb Wearable Exoskeleton Robot

The lower limb-assisted exoskeleton robot is a wearable robot that realizes motion control through human-computer interaction, which can improve the wearer's motion ability. The overall mechanical structure of the lower limb exoskeleton, the joint angle measuring device and the plantar pressure measuring device are designed. The SMC-UDE control algorithm is proposed to realize the exoskeleton robot's excellent gait control, solved the uncertainty of the lower limb exoskeleton dynamics model and external interference. The subjects wore the lower limb exoskeleton to complete the walking experiment under various road conditions. Experiments have proved that the lower limb exoskeleton has a high-precision human-machine following control effect and significant weight-bearing assistance effect.