Towards Lower Limbs Functional Rehabilitation through a Knee Joint Exoskeleton

H. Rifai 1 Samer Mohammed 1 K. Djouani 1 Yacine Amirat 1
1 SIRIUS
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
Abstract : This paper presents a bounded control strategy of a knee-joint exoskeleton that ensures knee flexion/extension movements during the assistance and rehabilitation processes. The control strategy is easy to implement, since it does not require any prior knowledge of the human effort. The proposed control law is based on nested saturations with the main advantage of explicitly avoiding the actuator's saturation, guaranteeing and enhancing the wearer's security. Lyapunov-based analysis is stated to prove: 1) the asymptotic stability of the shank-foot-exoskeleton in the absence of a human active effort; 2) the trajectories ultimate boundedness in the presence of parameter uncertainties; and 3) the input-to-state stability with respect to a bounded human active torque. Preliminary real-time experiments show satisfactory results in terms of assistance-as-needed and passive/resistive rehabilitation performances following desired trajectories expressing knee flexion/extension movements.
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Article dans une revue
IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2017, 25 (2), pp.712-719
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Soumis le : mardi 13 juin 2017 - 16:23:27
Dernière modification le : dimanche 30 décembre 2018 - 09:32:07

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  • HAL Id : hal-01538487, version 1

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H. Rifai, Samer Mohammed, K. Djouani, Yacine Amirat. Towards Lower Limbs Functional Rehabilitation through a Knee Joint Exoskeleton. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2017, 25 (2), pp.712-719. 〈hal-01538487〉

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