Main Article Content
. In Vietnam, labor accidents and traffic accidents are still happening every day, increasing the number of patients suffering from muscle paralysis, reducing or losing the function of walking with their feet. This causes undesirable consequences for society. Rehabilitation centers have partly helped restore the mobility of patients with physical therapy and assistive devices. However, there are still many supporting devices such as wheelchairs and crutches still causing difficulties and inconveniences for users, causing self-esteem in their lives, while in Vietnam there are still no In-depth research and manufacture of equipment that can help the wearer wear mobility assistance as a normal activity in daily life. With the aim of gradually creating a device that helps people with paralysis to restore normal mobility, this paper introduces a control method for a nonlinear model of the exoskeleton system. 7 degrees of freedom. The movement gait of the exoskeleton system worn by the wearer is predefined and controlled so that the exoskeleton follows the previously defined trajectories. The controller used in this paper is based on the kinetic properties of the 3-dimensional inverted pendulum model. The movement of the 3-dimensional inverted pendulum is limited so that it moves on a predefined plane. A challenge in the motion control system of the exoskeleton is the nonlinearity of the dynamic model and the uncertain parameters in the exoskeleton model.