Sliding Mode Control of Planar Mechanism for Reproduction of Ankle Path Trajectory

This work is focused on the control of a four-bar mechanism, used in ankle children rehabilitation with cerebral palsy, emulating the gait in the foot movement. The foot movement in the gait cycle is emulated. For this, kinematic and dynamic model of the mechanism that allows emulation of the movement is taken, and this system was implemented with some control strategies that were determined and designed, finding a tracking desired trajectory. As a result, it was found that the control by sliding modes complied with the tracking of the desired trajectory