A Study on the Response of the Rehabilitation Lower Device using Sliding Mode Controller


  • D. M. Duc Faculty of Engineering and Technology, Pham Van Dong University, Vietnam
  • T. X. Tuy Faculty of Mechanical Engineering, Da Nang University of Science and Technology, Vietnam
  • P. D. Phuoc Faculty of Engineering and Technology, Pham Van Dong University, Vietnam
Volume: 11 | Issue: 4 | Pages: 7446-7451 | August 2021 | https://doi.org/10.48084/etasr.4312


This paper presents the application of the sliding mode controller to simulate the control of a 3 Degree of Freedom (DoF) robot model that supports lower extremity rehabilitation exercises for stroke patients. The 3 DoF robot model has an established dynamic differential equation for each joint. This paper studied the response of links of the research model with a sliding mode controller proposed as the control solution. Matlab software was used in simulations of ankle, knee, and hip joints' drive for 2 cases, without and with load. Compared with other studies, the research results show that the sliding controller results in slight angular errors when applied to the research model, while the torque of the joints remains low. This result is the basis for calculating and selecting parameters for the actuator when manufacturing the actual equipment.


sliding mode controller; ankle; knee; hip; rehabilitation;


Download data is not yet available.


E. Berge and P. Sandercock, "Specific treatment of acute ischemic stroke," in Warlow's Stroke, John Wiley & Sons, Ltd, 2019, pp. 587-656. https://doi.org/10.1002/9781118492390.ch13

L. V. Thanh, "Network of care for stroke, the past and the future", Journal of Clinical Medicine, Vol. 10, pp. 11-14, 2015.

D. Shi, W. Zhang, W. Zhang, and X. Ding, "A Review on Lower Limb Rehabilitation Exoskeleton Robots," Chinese Journal of Mechanical Engineering, vol. 32, no. 1, Aug. 2019, Art. no. 74. https://doi.org/10.1186/s10033-019-0389-8

M. Rahmani and M. H. Rahman, "Novel robust control of a 7-DOF exoskeleton robot," PLOS ONE, vol. 13, no. 9, 2018, Art. no. e0203440. https://doi.org/10.1371/journal.pone.0203440

M. Torabi, M. Sharifi, and G. Vossoughi, "Robust adaptive sliding mode admittance control of exoskeleton rehabilitation robots," Scientia Iranica, vol. 25, no. 5, pp. 2628-2642, Oct. 2018.

S. Zhu, X. Jin, B. Yao, Q. Chen, X. Pei, and Z. Pan, "Non-linear sliding mode control of the lower extremity exoskeleton based on human-robot cooperation," International Journal of Advanced Robotic Systems, vol. 13, no. 5, Sep. 2016, Art. no. 1729881416662788. https://doi.org/10.1177/1729881416662788

Y. Tu et al., "An Adaptive Sliding Mode Variable Admittance Control Method for Lower Limb Rehabilitation Exoskeleton Robot," Applied Sciences, vol. 10, no. 7, Jan. 2020, Art. no. 2536. https://doi.org/10.3390/app10072536

S. Babesse, "Design of Two Optimized Controllers of a Hydraulic Actuator Semi-Active Suspension: A Comparison Study," Engineering, Technology & Applied Science Research, vol. 9, no. 4, pp. 4561-4565, Aug. 2019. https://doi.org/10.48084/etasr.2836

M. K. Joyo et al., "Optimized Proportional-Integral-Derivative Controller for Upper Limb Rehabilitation Robot," Electronics, vol. 8, no. 8, Aug. 2019, Art. no. 826. https://doi.org/10.3390/electronics8080826

H. Medjoubi, A. Yassine, and H. Abdelouahab, "Design and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach," Engineering, Technology & Applied Science Research, vol. 11, no. 2, pp. 6935-6942, Apr. 2021. https://doi.org/10.48084/etasr.3950

W. Huang, H. Xu, X. Fan, and Y. Lin, "Control of Lower Limb Rehabilitation Robot Based on Fuzzy PID," in 2018 3rd International Conference on Control, Automation and Artificial Intelligence (CAAI 2018), Aug. 2018, pp. 6-8. https://doi.org/10.2991/caai-18.2018.2

G. Al Rezage and M. O. Tokhi, "Fuzzy PID control of lower limb exoskeleton for elderly mobility," in 2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR), Cluj-Napoca, Romania, May 2016. https://doi.org/10.1109/AQTR.2016.7501310

D. Jiang, G. Shi, Z. Pang, S. Li, and Y. Tian, "Control of a New Cycling Rehabilitation Robot Based on Fuzzy PID," Journal of Physics: Conference Series, vol. 1622, Sep. 2020, Art. no. 012119. https://doi.org/10.1088/1742-6596/1622/1/012119

Z. Chen, Q. Guo, Y. Yan, and D. Jiang, "Robust Sliding Mode Control for a 2-DOF Lower Limb Exoskeleton Base on Linear Extended State Observer," Mechanical Engineering Science, vol. 2, no. 2, Dec. 2020. https://doi.org/10.33142/mes.v2i2.3160

J. Liu, Y. Zhang, J. Wang, and W. Chen, "Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot," in 2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA), Wuhan, China, May 2018, pp. 1481-1486. Maalej, H. Medhaffar, A. Chemori, and N. Derbel, "A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot," in 2020 17th International Multi-Conference on Systems, Signals Devices (SSD), Monastir, Tunisia, Jul. 2020, pp. 740-746.

T. B. Trung, G. L. T. Hong, Q. D. Hai, and N. P. V. Bach, "Advanced Method for Motion Control of a 3 DOFs Lower Limb Rehabilitation Robot," International Journal of Innovative Technology and Interdisciplinary Sciences, vol. 2, no. 4, pp. 316-325, Nov. 2019.

Z. Shen, J. Zhou, J. Gao, and R. Song, "Fuzzy Logic Based PID Control of a 3 DOF Lower Limb Rehabilitation Robot," in 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Tianjin, China, Jul. 2018, pp. 818-821. https://doi.org/10.1109/CYBER.2018.8688089

D. T. Hai and D. T. Vu, "An Intelligent Control for Lower Limb Exoskeleton for Rehabilitation," International Journal of Electrical and Electronics Engineering, vol. 4, no. 8, pp. 13-19, 2017. https://doi.org/10.14445/23488379/IJEEE-V4I8P103


How to Cite

D. M. Duc, T. X. Tuy, and P. D. Phuoc, “A Study on the Response of the Rehabilitation Lower Device using Sliding Mode Controller”, Eng. Technol. Appl. Sci. Res., vol. 11, no. 4, pp. 7446–7451, Aug. 2021.


Abstract Views: 249
PDF Downloads: 271

Metrics Information
Bookmark and Share