Artif Life Robotics
DOI 10.1007/s10015-015-0203-3
ORIGINAL ARTICLE
Repetitive control for the periodic walking training in a gait
rehabilitation robot
Ping Wang1 · Lei Li2 · Maode Yan1 · Feng Ru1 · Yongfeng Ju1 
Received: 12 June 2014 / Accepted: 30 December 2014
© ISAROB 2015
Abstract  The number of people with difficulty in walking
has increased with aging issues worldwide. It is possible to
regain walking ability after persistent locomotion training.
With the development of robotics, cyclic walking motion
is implemented to stimulate the correct walking pattern. In
order to better track the planned walking motion, this paper
focuses on the “repetitive” motion input for the lower limb,
and the intelligent control algorithm is proposed to diminish
the tracking error. Repetitive control algorithm, based on the
characteristics of a cyclical input signal and the internal model
control principle, implanted the periodic signal generator has
developed into the closed-loop system in order to achieve
steady tracking of cyclic reference signals and rejecting dis-
turbance on the rehabilitation robot. Results are applied on
the simulation model of a bedecked overground walking gait
system. It shows the effectiveness of the proposed method
compared with the conventional PD controller.
Keywords  Rehabilitation robot · Gait training ·
Repetitive motion · Intelligent control
1 Introduction
Depending on the existence of neural plasticity, intensive
and repetitive rehabilitative exercises can stimulate the
* Ping Wang
wang0372@e.ntu.edu.sg
1 up by gravity torque and inaccuracies in the machining or
School of Electronic and Control Engineering, Chang’an
University, Mailbox 370, Nan Er Huan Road, Xi’an 710064,
Shaanxi, China
2
School of Mechanical and Aerospace Engineering, Nanyang
Technological University, Singapore 639798, Singapore
nervous system by “recall” the lost function and enhance the
descending motor pathways. Those neurological deficien-
cies often initiate pathological gaits that force patients stay
in wheelchairs and other walking devices to achieve func-
tional mobility during daily activities. However, it is obvious
that the current manual assistance is time-consuming and
far from enough in consideration of the limited professional
doctors and therapists. This is the area where an intelligent
robotics can replicate manual assistance of repetitive motor
pattern training. Furthermore, most of the gait exercise easily
turns out to be inefficient for gait recovery without the pro-
fessional guidance, such as the trainees do not execute their
own strength but passively follow external assistant loops,
and then these cyclic trainings are actually not effective as
expected [1, 2]. Therefore, maximizing the use of remain-
ing ability and enlarging the assistant training effort are the
research focus during the development of such clinic-used
robot with enhanced robotics technology in recent decades.
As emphasized earlier that a proper repetitive exercise is
effective for gait recovery, which saves lots of manpower,
repetitive controller (RC) has advantages for the repeti-
tive task following periodic input signals [3]. The design
of RC is based on the iterative learning law by eliminat-
ing the effects of periodic disturbance and errors cycle by
cycle. The fundamental frequency of RC is obtained by
the analysis of the dominant frequency components of the
input signal based on the frequency decomposition. RC
algorithm built on the robotic dynamic equations has been
implemented into robotic manipulators when a robot per-
forms a periodic motion. The periodic disturbances built
mounting of shafts can be compensated by the corrective
action until the error goes away [4]. Moreover, the effec-
tiveness of RC has even been successfully tested on nonlin-
ear, highly coupled robotic devices with unknown inverse
13

dynamics or without direct measurement of joint veloci-
ties [5, 6]. Robotics applied in rehabilitation area was also
applied in the RC to provide compliance assistant torque
for the upper-limb rehabilitation [7]. However, few of the
studies have reported on the applications of the lower-limb
rehabilitation as considered in the complex of gait training.
In this paper, the initial study was conducted on the RC
algorithm on the simulation model of a gait robot used in
the lower-limb rehabilitation training.
As walking training is continuous and repeatable [8,
9], RC algorithm is suitable for the “repetitive” motion
input for joints on the lower limb. Unlike the upper-limb
rehabilitation, gait trajectory is more complex in the con-
sideration of the balance of the trainee, walking sequence,
shifting of the center of gravity (CoG), and posture con-
trol to complete a gait cycle (GC). In order to track the
complex gait trajectory to complete appropriate walking
motions, various control algorithms have been developed.
The conventional PD controllers are commonly used in the
feedback control of robotic system. The constant control
parameters may lead to bad tracking effects, which make
the planned walking motion unworkable. Researchers
have analyzed the dynamic model of the walking robot [5]
to improve the PD control effect. Furthermore, it is also
worth to study the interaction torque between the trainee
and robot. The assistant force transferred effectively and
properly to push or pull lower limbs. The bad tracking
error not only introduces impracticable gait pattern, but
also enlarges the theoretical assistant force to be exces-
sively huge when the error accumulated, which is unreal-
izable. Therefore, many researchers have studied the stiff-
ness and compliance of interaction torque [8, 10]. Further
studies use fuzzy logic combined with PD control carrying
out the force/position hybrid control to control both force
and position at the same time [11]. Other intelligent algo-
rithms have also been investigated such as neural network
and genetic algorithm in consideration of various changes
of subjects’ conditions [12]. As the assistant force is so
vital for the rehabilitation robot, modified control algo-
rithms combined with computed torque controllers and
impedance control theory have also been implemented to
drive the manipulator tracking the desired trajectory and
ensure the sufficient torque to assist the lower limbs [13,
14]. Event-trigger algorithms have also been developed
based on the different discrete state of rehabilitation robot
during training process [15, 16]. All those superior meth-
ods have been tested on the specific robot and obtained
satisfactory results.
In this paper, the applications of RC are discussed to
diminish tracking error cycle by cycle to perform planned
motion for the rehabilitation with the possibility to add
on current algorithms without ability of iterative learn-
ing methods. RC combined with gait analysis for walking
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Artif Life Robotics
training is first presented. A lower-limb rehabilitation robot
was simulated to test the proposed control algorithm and
compared with the conventional PD controller. The effec-
tiveness of RC to automatically diminish the tracking error
was then demonstrated. The proposed method is applied on
a simulation model of a gait rehabilitation robot to evaluate
the effort.
2 Method
In order to use RC algorithm on the gait system with the
periodic input, the proposed RC algorithm is first discussed
with the selection of fundamental frequency by inserting
different time delay. The frequency response of RC is also
presented to show oscillation wave in high-frequency band.
Then, the frequency decomposition of the input signal for
the lower-limb walking pattern is analyzed. With the cutoff
frequency of the controller, the periodic signal trims out the
high-frequency band for every cycle. Unlike conventional
controller, RC with iterative learning ability could let cer-
tain high-frequency bands get through with selected fun-
damental frequency. Therefore, more information would
bypass to track the gait parent more accurately cycle by
cycle to handle these periodic signal disturbance rejection
problems.
2.1 Repetitive control
It is well known that the dynamics of a rigid robotic manip-
ulator is of the following general form:
Γ = M(q)q̈ + C(q, q̇) + g(q) (1)
where Ґ is the torque, q is the joint position, M(q) is the
inertia matrix, C(q, q̇) is the matrix of the Coriolis and cen-
trifugal forces, and g(q) is the gravity force. The state equa-
tions of the robotic manipulator are of following form, des-
ignate H(q, q̇) = C(q, q̇) + g(q) for short.

q̇ = v
(2)
v̇ = M −1 (q)(Γ − H(q, q̇))
where v is the joint velocity, and v̇ is the joint acceleration,
assume
u = q̈ (3)
The dynamic equations of the robotic manipulator are
highly nonlinear and coupled. In order to design a control-
ler, the following is linearization of the dynamic:

q̇ = v
(4)
v̇ = M̂ −1 (q)(Γ − Ĥ(q, q̇))
where M̂ and Ĥ are estimation of the manipulator dynam-
ics. In the case of periodic disturbance and when the
Artif Life Robotics

( ) Repetitive controller ( )
( )
+ + + Robot
( )
+ +
( ) − ( , ̇)

Fig. 1  Diagram of the repetitive control system used in the robotic system, M(q) is inertia matrix of the robotic joint. H(q, q̇) is summation of
the matrix of coriolis torques and the gravity torques

Fig. 2  Frequency response of 4

the repetitive control system 2

Magnitude (dB)
-2

-4

-6

4
-8 x 10

2.88

2.304
Phase (deg)

1.728

1.152

0.576

0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

dynamic model is unknown, the tracking systems have to
deal with periodic reference signals. Repetitive control
based on the internal model principle has been proved to
be a useful control strategy for this class of systems. The
diagram of the repetitive control used in robotic system is
shown in Fig. 1. There are two loops of the controller; the
inner loop is torque control with adjustable current. The
joint torque is linked to joint revolute joint angle with the
help of friction gravity compensation and robotic dynam-
ics via Eq. (1). The outer loop is the position control to
track the planned trajectory of the revolute joint angle.
The high loop gain injected by RC at the fundamental and
harmonic frequencies of the network frequency ensures
good tracking of the reference input and the rejection of
the high-order harmonics of the disturbance [17]. The pro-
posed structure of RC with time delay decides the founda-
tional frequency.
The open-loop transfer function of the block of repeti-
tive controller is
Q(s)e−Ls
D(s) =
1 − Q(s)e−Ls
The closed-loop transfer function is
G(s)
T(s) =
1 − Q(s)e−Ls + G(s)
The self-oscillation of the repetitive controller introduces
instability for the system. In order to design functional
repetitive controller, system needs to satisfy the conditions
for internal stability. According to the internal stability [18],
the parameters of the repetitive controller are obtained.
As for the repetitive controller, the fundamental fre-
quency is

ωk = 2π L (7)
The instability’s condition covers G(s) asymptotic stabil-
ity and T(jω) = 1. That is, |1 + G(jω)| > 1 refers to Eq. (6).
2.2 Frequency response
Compared with the conventional controller such as PD con-
troller, there is magnitude oscillation occuring on the high-
frequency domain. More high-harmonic series can pass
through the RC. The frequency response of the RC is shown
in Fig. 2. When the internal model oscillation is the same
to the input signal, then it enhances the capacity of periodic
(5) signal tracking and suppresses the periodic disturbance.
2.3 Walking pattern analysis
As defined, heel contact (HC) of the right foot is the starting
(6)
point in a gait cycle. Smooth impact between the foot and the

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 Artif Life Robotics

80
60
Knee (xh,yh)

Angle (Degree)
40 Hip L+l2(t)
20
0
(x0,y0) hip
-20 0 50 100 l3
-40 Ankle
-60
% of Gait Cycle

Fig. 3  Comparison between the original signals (solid line) and sig- (xk,yk)
nals that cut off high-harmonic Fourier (dotted line) knee

ground initial contact is required during heel rocker. When l4

the stance phase starts, the standing foot stay on the ground
without lifting up or dragging around as a fixed point to allow
(xm,ym)
ankle rocker. As walking forward, the standing foot lift heel
(xa,ya) ankle
off the ground at the end of stance phase to allow forefoot
rocker. Finally, swing forward under foot clearance require- l5
ment before contacting ground again. Inverse kinematics
study is applied to calculate the hip, knee, and ankle joints. It
Fig. 4  Sub-mechanism of robotic leg parallel attached in NaTUre-
therefore disperses walking motion into cycle by cycle with gaits
periodic joint angles for hip, knee, and ankle joints. An entire
gait cycle is divided 100 percentage from HC to next HC to
complete a whole walking cycle, as shown in Fig. 3.
As the average walking pattern for one cycle is demon-
strated, the entire walking pattern repeats the average pat-
tern cycle by cycle. Then periodic joint angles can be repre-
sented by the Fourier series as
∞

q(t) = ak cos(kωt) + bk sin(kωt), k = 1, 2, . . . (8)
k=1

PD controller are commonly used in robotic tracking

control. The disturbance in the high-frequency domain are
cutoff with loss of high-harmonic Fourier series of the peri-
odic input signals. Therefore, the cutoff signal (dotted line)
is slightly different from the original signal (solid line)
within every cycle as shown in Fig. 3. The tracking perfor-
mance is influenced by this reason.

3 Result

The robotic orthosis mechanism consists of two sets of link-

age resembling human lower limb in NaTUre-gaits (Natu-
ral and TUnable rehabilitation gait system) [19], which
provide assistance for walking during gait rehabilitation. At
each of the joint, a Maxon brushless motor is meshed with
spur gears to drive the movement of the linkage. The con-
trolled joints on each limb of the robotic orthosis are ankle,
knee, and hip joints control as simulated. In order to enable
the periodic synchronization of motors, all the axes can be
Fig. 5  Simulation model on the hip, knee, and ankle joints to com-
slaved to one master axis. The master axis is a fictitious pare the control effort of the PD controller and repetitive controller. a
axis, which allows a table-based relationship to synchro- PD and RC algorithm simulation; b Machine for model link to Solid-
nize all the controller axes. In our research, the DMC-2182 works model with trajectory of hip, knee and ankle joints is illustrated

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Artif Life Robotics

controller has a fictitious axis as one master and six slaves
for all the motors. The synchronized six-axis motion for the
lower limbs is generated and tracked as shown in Fig. 4.
A robotic manipulator with three revolute joints is used
for simulation study. The conventional PD controller and pro-
posed RC are applied on the simulation of a 3 DoF robotic
system for one leg. Those joints are following the cyclic com-
mands from hip, knee, and ankle joints, respectively. The con-
trol algorithms are also simulated as shown in Fig. 5a. The
robotic manipulator is taken as a controlled plant represented
by a sub-system. The simulation model is setup to mimic the
walking machine as shown in Fig. 5b. This model acts as the
controlled plant sub-system to test the control algorithm.
The proposed RC is used in this simulation platform,
and the track performance for hip, knee, and ankle joints
is shown in Fig. 6. Take Fig. 6a as an example; “AnkleRef”
indicates the desired planned motion of ankle joint, while
“AnkleResult” is the resultant tracking output. The maxi-
mum tracking error decreased continually from 3° to zero
for the ankle joint as shown in solid line of “AnkleRef”
and dotted line of “AnkleResult.” With increase in time,
more walking cycle is performed and the periodic input
signals are shown. The actual joint output convergent
approaches the desired input cycle by cycle. The track per-
formance improved with time with the help of the repetitive
controller.

The Gait Cycle in the N*GaitT

10 AnkleRef AnkleResult

5 (a)
0
Angle

-5

-10

-15

-20
0 10 20 30 40 50 60

Time (s)

The Gait Cycle in the N*GaitT

70
KneeRef KneeResult

60
(b)
50

40
Angle

30

20

10

0
0 10 20 30 40 50 60

Time (s)

The Gait Cycle in the N*GaitT

HipRef HipResult
20

(c)
15

10
Angle

-5

-10

0 10 20 30 40 50 60

Time (s)

Fig. 6  Tracking performance of hip, knee, and ankle joint with RC. a ankle joint; b knee joint and c hip joint

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 Artif Life Robotics

Fig. 7  Tracking error of ankle, 3.5

ankleErr
knee, and hip joints compared a 3 (a) kneeErr
PD controller, b RC hipErr
2.5

1.5

Angle
1

0.5

-0.5

-1
0 10 20 30 40 50 60

3.5
ankleErr
3 (b) kneeErr
hipErr
2.5

1.5
Angle

0.5

-0.5

-1
0 10 20 30 40 50 60

Time (s)

Fig. 8  Frequency response total controller and plant compared RC and PD

compared between PD control- 60

ler and repetitive control-

ler working with the controlled 40
Magnitude (dB)

plant
20

-20
180

0
Phase (deg)

-180

PD
-360 Repetitive control

-540
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

The tracking error is also highlighted by both the per-
formances under the conventional PD control and RC, as
shown in Fig. 7. There is no obvious change of tracking
error under PD control between neighboring cycles. Within
every cycle, the tracking error reaches maximum at certain
degree to formulate a peak value. This peak value is con-
stantly repeated cycle by cycle when large ankle changes
are required as in Fig. 7a. This value is decreased with the
help of RC as the controller conducts self-learning algo-
rithm and changes the assistant torque correspondingly in
Fig. 7b. This auto-tuning method of assistant torque could
benefit the gait rehabilitation as it forces more to track large
angle changes.
The DMC-2183 is an 8-axis programmable motion con-
trol card. It can interface with desktop via Ethernet cable
or RS232 cable. Two units of opto-isolator modules are

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Artif Life Robotics
mounted onto the control card. To program the DMC-2183,
Window Servo Design Kit (WSDK), a program provided
by Galil motion control, allows users to use basic assem-
bly language to control the motion profile of the motors.
Users can program the motors to run simultaneously using
different modes, such as electronic CAM mode, contour
mode, and absolute positioning mode. At current stage,
WSDK was used to program the gait pattern for the robotic
orthosis. Then the feedback motor torque is calculated by
WSDK based on tracking error. The tendency of decreased
assistant torque is similar to the change of the tracking
error under RC compared with PD control. The overall
frequency response compared between the conventional
PD controller and repetitive controller is shown in Fig. 8.
Band pass is enlarged for the repetitive controller compared
with the PD controller, which allows more accurate desired
motion pass through the system as expected.
4 Concluding remarks
The RC algorithm has been developed to achieve steady
tracking performance of the cyclic input signals and reject
disturbance on the robotic control for the lower-limb reha-
bilitation. The combination between RC and gait analysis
develops the method to obtain fundamental frequency of
RC by the analysis of the dominant frequency components
based on the frequency decomposition. RC in the reha-
bilitation robot control suppresses the tracking error and
improves the active level of assistant torque, which is dem-
onstrated by comparison with conventional PD controller,
providing an alternative robotic control method focusing
on the lower-limb rehabilitation with repetitive walking
training.
Acknowledgment  Thanks to the support of the Special Fund for
Basic Scientific Research of Central Colleges, Chang’an University,
China (No. 2014G2320006, 2013G3322009, 2014G1321040) and the
Key Science and Technology Program of Shaanxi Province, China
(Grant No. 2013JC2-25)
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