Improvement model for omnidirectional rehabilitative training walker and tracking control

This paper is concerned with the problem of improvement model for the omnidirectional rehabilitative training walker and tracking control. The aim of the study is to obtain a model that closes to actual walker by considering motor rotation character. An asymptotically stable controller was gotten that can ensure tracking on a training path planned by a physical therapist. The controller that can satisfy asymptotic stability is obtained by constructing the Lyapunov function. The simulation results confirm the feasibility and effectiveness of the designed scheme and indicate the walker can ensure tracking motion by using the improved model.