Study and realisation of a preliminary control system for the active exoskeleton called P.I.G.R.O., suitable for unloaded robotic neurorehabilitation treatments

In this paper the study and the realization of the electro-pneumatic control system of the active exoskeleton called P.I.G.R.O. (Pneumatic Interactive Gait Rehabilitation Orthosis) was presented. This exoskeleton was designed for unloaded robotic neuro-rehabilitation training useful in the beginning of the treatment. The use of an active exoskeleton in these trainings allows to use some proper input control curves suitable for the patient treatment, to measure all the parameters, to repeat properly the treatment during the whole rehabilitation program, saving all the data. The realization of P.I.G.R.O. control system was carried out by means of various kinds of experimental tests during which the authors analyzed and defined the all parameters of the PWM-PID (Pulse-Width Modulation; Proportional–Integral–Derivative) controller and the influence of the load, of the tubes dimensions, of the structure of the electro-pneumatic system.