Output feedback Control of an Actuated Lower Limb Orthosis with Bounded Input

M. Lalami 1 H. Rifai 1 Samer Mohammed 1 W. Hassani 1 G. Fried 1 Yacine Amirat 1
1 SIRIUS
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
Abstract : The paper deals with the control of a lower limb orthosis acting at the knee joint level for a passive rehabilitation purpose. A bounded control torque computed over an output feedback is applied to ensure the shank-foot-orthosis stability while tracking a desired trajectory. The feedback is based on the knee joint angle and an estimate of its angular velocity. The stability of the shank-foot-orthosis system is proved by means of Lyapunov theory. The proposed control law is robust with respect to external disturbances and satisfies the power limitation constraints. The efficiency of the proposed control law is shown through experimental tests using the orthosis EICOSI of the LISSI Lab.
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01538584
Contributor : Lab Lissi <>
Submitted on : Tuesday, June 13, 2017 - 4:55:42 PM
Last modification on : Sunday, December 30, 2018 - 11:00:15 PM

Identifiers

  • HAL Id : hal-01538584, version 1

Collections

Citation

M. Lalami, H. Rifai, Samer Mohammed, W. Hassani, G. Fried, et al.. Output feedback Control of an Actuated Lower Limb Orthosis with Bounded Input. Industrial Robot: An International Journal, Emerald, 2013, 40 (6), pp.541-549. ⟨hal-01538584⟩

Share

Metrics

Record views

59