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Article
Publication date: 14 October 2013

Mohamed E. Lalami, Hala Rifaï, Samer Mohammed, Walid Hassani, Georges Fried and Yacine Amirat

– The purpose of this paper is the control of lower limb orthosis acting at the knee joint level for a passive rehabilitation purpose.

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Abstract

Purpose

The purpose of this paper is the control of lower limb orthosis acting at the knee joint level for a passive rehabilitation purpose.

Design/methodology/approach

A control law, based on a saturated proportional derivative controller, is proposed in order to drive the shank-foot-orthosis system along a desired trajectory.

Findings

The proposed control law is tested in real time using the orthosis EICOSI of the LISSI-Laboratory. The experiments show that the proposed control law is capable of providing satisfactory trajectory tracking performance given only the knee joint angle measurement. Moreover, the control law is robust with respect to external disturbances.

Originality/value

Robust control of an actuated lower limb orthosis.

Details

Industrial Robot: An International Journal, vol. 40 no. 6
Type: Research Article
ISSN: 0143-991X

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