Powered orthosis for lower limb movements assistance and rehabilitation

W. Hassani 1 Samer Mohammed 1 H. Rifai 1 Yacine Amirat 1
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
Abstract : This paper presents two rehabilitation approaches of the lower limb: passive and active. The passive one ensures repetitive motions of the limb without any effort delivered by the wearer. Within the active one, a human–exoskeleton interaction approach is proposed. It allows us to provide a knee joint torque support, adapted according to the intention and ability of the wearer, for assistance-as-needed. The wearer׳s intention is estimated using a realistic model of the muscles actuating the knee joint. The identification process concerns the inertial parameters of the shank-foot-exoskeleton and the musculotendinous parameters. Experiments were conducted online on a healthy subject and have shown satisfactory results in terms of tracking error, intention detection and passive-rehabilitation/active-assistance.
Type de document :
Article dans une revue
Control Engineering Practice, Elsevier, 2014, 26 (5), pp.245-253
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Soumis le : mardi 13 juin 2017 - 16:23:38
Dernière modification le : dimanche 30 décembre 2018 - 22:30:42


  • HAL Id : hal-01538508, version 1



W. Hassani, Samer Mohammed, H. Rifai, Yacine Amirat. Powered orthosis for lower limb movements assistance and rehabilitation. Control Engineering Practice, Elsevier, 2014, 26 (5), pp.245-253. 〈hal-01538508〉



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