Abstract:

Patients with neurological disorders often experience impaired motor control, hindering their ability to perform daily tasks. Despite the widespread adoption of rehabilitation devices in medical settings, many still suffer from a mismatch between the kinematic design and the biological structure of the hip. This mismatch can result in additional stress on the human joints, potentially causing pain, discomfort, or even injury over time. In order to address this issue, a 3-DOF Lower-limb Adjustable Rehabilitation Exoskeleton (LAREX) is proposed. LAREX features an innovative adjustable mechanism designed to accommodate a wide range of patient profiles while ensuring a customized and ergonomic fit for each user. Furthermore, an optimally initialized Model Reference Adaptive PID controller ( ) is introduced to adapt the controller parameters in real-time, accounting for individual variability. Simulation results under challenging conditions demonstrate that the proposed controller outperforms traditional adaptive controllers by significantly reducing overshoot and initial error across all joints, while maintaining stable performance despite parameter uncertainties and external disturbances. These findings highlight the potential of LAREX to provide safe, adaptive, and effective rehabilitation for a broad spectrum of patients.

Speaker Bio:

Mr. Muhammad Adel Yusuf received his B.Sc. degree in Mechanical Engineering from the Faculty of Engineering, Zagazig University, Egypt, in 2017. In 2019, he was awarded a scholarship to pursue an M.Sc. in Mechatronics and Robotics Engineering at the Egypt-Japan University of Science and Technology (E-JUST). He is currently a Ph.D. student in the Department of Control and Instrumentation Engineering. His research interests include the design, optimization, and control of robotic systems, with a particular focus on machine learning, computer vision, and human-robot collaboration.