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Output feedback control of an actuated lower limb orthosis with bounded input

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

Industrial Robot

ISSN: 0143-991X

Article publication date: 14 October 2013

268

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.

Keywords

Citation

E. Lalami, M., Rifaï, H., Mohammed, S., Hassani, W., Fried, G. and Amirat, Y. (2013), "Output feedback control of an actuated lower limb orthosis with bounded input", Industrial Robot, Vol. 40 No. 6, pp. 541-549. https://doi.org/10.1108/IR-05-2013-363

Publisher

:

Emerald Group Publishing Limited

Copyright © 2013, Emerald Group Publishing Limited

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