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Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation

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New Trends in Robot Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 270))

Abstract

Several are the diseases that cause difficulties in walking. This chapter concerns the assistance of deficient kids using a robotic system. In this context, the lokomat appears to be the most suitable system for kids suffering from cerebral palsy. Hence, PID controllers based on feedback linearization and adaptive feedback linearization approaches have been proposed to control 2 DOF exoskeletons which are considered as the fundamental part of the lokomat system. Besides, in order to test the effectiveness and the robustness of these controllers, several cases have been proposed. Simulations were carried out to compare and to show the well desired trajectory tracking in these cases.

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Acknowledgements

The present work is supported by (i) the “Association de Sauvegarde des Handicapés Moteurs - Sfax” (ASHMS), the (ii) Clinical Investigation Center (CIC) of the Hospitalo—University Center of Sfax (CHU) Tunisia, (iii) the Laboratory “Control & Energy Managements” (CEMLab) of the “National School of Engineering of Sfax”, University of Sfax, Tunisia, and (iv) the Digital Research Center of Sfax, Tunisia (CRNS).

Author information

Authors and Affiliations

  1. Laboratory of Control & Energy Management, ENIS, University of Sfax, Sfax, Tunisia

    Racem Jribi, Boutheina Maalej & Nabil Derbel

  2. University of Gabes, Gabes, Tunisia

    Racem Jribi & Boutheina Maalej

  3. Digital Research Center of Sfax, Sfax, Tunisia

    Boutheina Maalej & Nabil Derbel

  4. Clinical Investigation Center, Sfax, Tunisia

    Boutheina Maalej

Authors
  1. Racem Jribi
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  2. Boutheina Maalej
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  3. Nabil Derbel
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Corresponding author

Correspondence to Boutheina Maalej .

Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, Sultan Qaboos University, Al Khoudh, Oman

    Jawhar Ghommam

  2. National School of Engineers of Sfax, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  3. Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK

    Quanmin Zhu

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Jribi, R., Maalej, B., Derbel, N. (2020). Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_7

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