Electro-hydraulic servo system for Human Lower-limb Exoskeleton based on sliding mode variable structure control

Human Lower-limb Exoskeleton has recently received a great deal of attention, because of providing motion similar to human walking and reducing burden on both patients and therapists. In this paper the design of the control system for HLE which is actuated by electro-hydraulic servo system is presented. To improve the flexibility of the system, a control algorithms called sliding mode variable structure control was adopted. The simulation and results show that the controller has a better dynamic performance.