Concept and simulation of "Sys-Rééduc": Closed Muscular Chain Lower Limbs Rehabilitation Device

This paper deals with a concept of a lower limbs closed loop rehabilitation device. The human force applied to this device is considered as an external disturbance to the system dynamics. A control structure was proposed to track desired trajectories and to attenuate the external disturbances. Stabi...

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Bibliographic Details
Main Authors: Seddiki, L., Guelton, K., Leteneur, S., Zaytoon, J.
Format: Conference Proceeding
Language:English
Subjects:
H infinity control
Humans
Knee
Linear matrix inequalities
Lyapunov method
Neuromuscular
Recruitment
Rehabilitation robotics
Stability criteria
Trajectory
Online Access:Request full text
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Summary:This paper deals with a concept of a lower limbs closed loop rehabilitation device. The human force applied to this device is considered as an external disturbance to the system dynamics. A control structure was proposed to track desired trajectories and to attenuate the external disturbances. Stability conditions are given in terms of Linear Matrix Inequalities (LMI) using a quadratic Lyapunov function and an H-infinity criterion. Finally, the simulation of the designed device on an isokinetic movement illustrates the efficiency of the proposed control structure.
ISSN:1945-7898
1945-7901
DOI:10.1109/ICORR.2007.4428478