Designing a Fuzzy Sliding Mode Controller for 2-DOF Lower Limb Exoskeleton Rehabilitation Robot

Abstract One promising approach to resolving mobility issues in people with lower limb disabilities is the incorporation of robotics into rehabilitation programs, especially lower limb exoskeletons. The complex mechanics resulting from the nonlinear and erratic dynamics of the lower limb provide difficulties for conventional controllers in providing stable and individualized support during rehabilitation exercises. A Fuzzy Sliding Mode Controller for a 2-DOF lower limb exoskeleton rehabilitation robot takes into account the complexity of the rehabilitation process for lower limbs by combining sliding mode control with the adaptable nature of fuzzy logic. By utilizing user-specific physiological feedback to help with real-time decision-making, the fuzzy logic component enables the exoskeleton to dynamically modify its control parameters. Analyses that compare the FSMC to a traditional sliding mode controller demonstrate how well it handles nonlinear dynamics and provides a more relevant and adaptive control approach.