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Compensation tracking control for a rehabilitation training walker considering data‐driven human–robot cooperative environment estimation.

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Title: Compensation tracking control for a rehabilitation training walker considering data‐driven human–robot cooperative environment estimation.
Authors: Sun, Ping1,2 (AUTHOR) tonglongsun@sut.edu.cn, Huang, Lvshun1 (AUTHOR), Wang, Ting2 (AUTHOR), Wang, Shuoyu3 (AUTHOR)
Source: Asian Journal of Control. Sep2026, Vol. 28 Issue 5, p2429-2441. 13p.
Subjects: Human-robot interaction, Tracking control systems, Velocity measurements, Jacobian matrices, Empirical research, Mobility training, Feedback control systems, Robotic trajectory control
Abstract: It is a challenge to realize the tracking control of rehabilitation walker under human–robot cooperation environment. In this context, a data‐driven model of human–robot cooperative environment is established, and a tracking controller is designed to compensate the influence of the motion environment on the tracking performance, so as to realize the trajectory and velocity tracking simultaneously and improve the tracking accuracy. By constructing the discrete model of the walker and the nonlinear relationship between the cooperative environment and the tracking error, the data‐driven model of the cooperative environment was obtained. By estimating the pseudo‐Jacobian matrix, the compensation controller was achieved, and then the influence of human–robot environment on the tracking motion of the walker was suppressed, so that the stable tracking training of the walker was obtained. The advantage of this design method is that the motion environment estimation does not depend on the mathematical model of the walker, so more accurate cooperative environment information can be obtained, and then it is possible to achieve accurate compensation tracking control. Simulation and comparative analysis were conducted, and results verified that the proposed compensation control method under the cooperative environment is very effective. [ABSTRACT FROM AUTHOR]
Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Compensation tracking control for a rehabilitation training walker considering data‐driven human–robot cooperative environment estimation.
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  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Sep2026, Vol. 28 Issue 5, p2429-2441. 13p.
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  Data: <searchLink fieldCode="DE" term="%22Human-robot+interaction%22">Human-robot interaction</searchLink><br /><searchLink fieldCode="DE" term="%22Tracking+control+systems%22">Tracking control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Velocity+measurements%22">Velocity measurements</searchLink><br /><searchLink fieldCode="DE" term="%22Jacobian+matrices%22">Jacobian matrices</searchLink><br /><searchLink fieldCode="DE" term="%22Empirical+research%22">Empirical research</searchLink><br /><searchLink fieldCode="DE" term="%22Mobility+training%22">Mobility training</searchLink><br /><searchLink fieldCode="DE" term="%22Feedback+control+systems%22">Feedback control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: It is a challenge to realize the tracking control of rehabilitation walker under human–robot cooperation environment. In this context, a data‐driven model of human–robot cooperative environment is established, and a tracking controller is designed to compensate the influence of the motion environment on the tracking performance, so as to realize the trajectory and velocity tracking simultaneously and improve the tracking accuracy. By constructing the discrete model of the walker and the nonlinear relationship between the cooperative environment and the tracking error, the data‐driven model of the cooperative environment was obtained. By estimating the pseudo‐Jacobian matrix, the compensation controller was achieved, and then the influence of human–robot environment on the tracking motion of the walker was suppressed, so that the stable tracking training of the walker was obtained. The advantage of this design method is that the motion environment estimation does not depend on the mathematical model of the walker, so more accurate cooperative environment information can be obtained, and then it is possible to achieve accurate compensation tracking control. Simulation and comparative analysis were conducted, and results verified that the proposed compensation control method under the cooperative environment is very effective. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1002/asjc.3837
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 13
        StartPage: 2429
    Subjects:
      – SubjectFull: Human-robot interaction
        Type: general
      – SubjectFull: Tracking control systems
        Type: general
      – SubjectFull: Velocity measurements
        Type: general
      – SubjectFull: Jacobian matrices
        Type: general
      – SubjectFull: Empirical research
        Type: general
      – SubjectFull: Mobility training
        Type: general
      – SubjectFull: Feedback control systems
        Type: general
      – SubjectFull: Robotic trajectory control
        Type: general
    Titles:
      – TitleFull: Compensation tracking control for a rehabilitation training walker considering data‐driven human–robot cooperative environment estimation.
        Type: main
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      – PersonEntity:
          Name:
            NameFull: Sun, Ping
      – PersonEntity:
          Name:
            NameFull: Huang, Lvshun
      – PersonEntity:
          Name:
            NameFull: Wang, Ting
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            NameFull: Wang, Shuoyu
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            – D: 01
              M: 09
              Text: Sep2026
              Type: published
              Y: 2026
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              Value: 28
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              Value: 5
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            – TitleFull: Asian Journal of Control
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