Passivity mimicking control for a XENMA gait rehabilitation robot with rimless wheel model

Giving patient a walking sensation is one strategy for robotic gait rehabilitation. For that reason, understanding human gait trajectory and control robotic simulator to generate acceleration profile to patient is purposed. Generally robot is controlled seperately by dynamic model which gait trajectory come from. This paper focuses on model-based controller with human gait model and robot model. Human gait is modeled with rimless wheel as typical passive dynamic walking model, and conroller is designed to mimicking passivity of rimless wheel with energy aspect. Simulation is performed and result shows suggested control model is valid.