ICRA 2012 Paper Abstract


Paper WeB05.6

Rifai, Hala (University of Paris Est Créteil), Mohammed, Samer (University of Paris Est Créteil - (UPEC)), DAACHI, Boubaker (University of Paris Est Créteil (UPEC)), Amirat, Yacine (University of Paris Est Créteil (UPEC))

Adaptive Control of a Human-Driven Knee Joint Orthosis

Scheduled for presentation during the Regular Session "Rehabilitation Robotics" (WeB05), Wednesday, May 16, 2012, 11:45−12:00, Meeting Room 5 (Ska)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Rehabilitation Robotics, Robust/Adaptive Control of Robotic Systems, Medical Robots and Systems


The paper concerns the control of a lower limb orthosis acting on the knee joint level. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. A model reference adaptive control law is developed and applied to the orthosis in order to make the system (shank-orthosis) track a desired trajectory predefined by a rehabilitation doctor. The main advantage of this control law is the on-line parameters regulation allowing to ensure the best performance of the system. A Lyapunov-based analysis is performed to prove the input-to-state stability of the orthosis with respect to a bounded human torque. The performance of the system is then shown through some simulations.



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