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Bounded Control of an Actuated Lower-Limb Exoskeleton
Joint Authors
Hamam, Y.
Djouani, Karim
Ajayi, Michael Oluwatosin
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-20, 20 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-03
Country of Publication
Egypt
No. of Pages
20
Main Subjects
Abstract EN
A bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder.
Complete and partial lower-limb motor function disorders are considered.
This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting position.
A high gain observer is used in the estimation of the angular position and angular velocities which is then applied to the estimation of the joint torques.
The level of human contribution is feedback of a fraction of the estimated joint torque.
This is utilised in order to meet the demands for a bounded human torque; that is, τh≤N2,n≤N1,n.
The asymptotic stability of the bounded control law without human contribution and the convergence analysis of the high gain observer is verified using Lyapunov-based analysis.
Simulations are performed to verify the proposed control law.
Results obtained guarantee a fair trajectory tracking of the physiotherapist trajectory.
American Psychological Association (APA)
Ajayi, Michael Oluwatosin& Djouani, Karim& Hamam, Y.. 2017. Bounded Control of an Actuated Lower-Limb Exoskeleton. Journal of Robotics،Vol. 2017, no. 2017, pp.1-20.
https://search.emarefa.net/detail/BIM-1186328
Modern Language Association (MLA)
Ajayi, Michael Oluwatosin…[et al.]. Bounded Control of an Actuated Lower-Limb Exoskeleton. Journal of Robotics No. 2017 (2017), pp.1-20.
https://search.emarefa.net/detail/BIM-1186328
American Medical Association (AMA)
Ajayi, Michael Oluwatosin& Djouani, Karim& Hamam, Y.. Bounded Control of an Actuated Lower-Limb Exoskeleton. Journal of Robotics. 2017. Vol. 2017, no. 2017, pp.1-20.
https://search.emarefa.net/detail/BIM-1186328
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186328