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A Novel Hybrid PID-LQR Controller for Sit-To-Stand Assistance Using a CAD-Integrated Simscape Multibody Lower Limb Exoskeleton
Description
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the human-exoskeleton system and the stringent trajectory tracking requirements imposed by clinical safety. This paper presents the systematic design, simulation, and comparative evaluation of three control strategies: a classical Proportional-Integral-Derivative (PID) controller, a Linear Quadratic Regulat