PID CONTROL FOR LOWER LIMB EXOSKELETONS: A FRAMEWORK EVALUATION
Abstract
This research provides a detailed guideline for implementing and evaluating Proportional Integral Derivative (PID) control frameworks in lower limb rehabilitation exoskeleton robotics. It examines the role of control systems within rehabilitation robotics, outlines the principles of PID control, describes exoskeleton architecture, explores applications of PID control, reviews optimization strategies, presents experimental validations, and considers future developments in the field. The proposed control framework incorporates aspects of mechanical design, actuator and sensor selection, and PID-based control algorithms, thereby promoting safe, accurate, and individualized rehabilitation support. Recommendations and effective guidance for future work are also presented.