Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments

Hala Rifai 1 Mohamed Ben Abdessalem 1 Ahmed Chemori 2 Samer Mohammed 1 Yacine Amirat 1
1 SIRIUS
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with the control of a lower limb exoskeleton acting on the knee joint level. Classical L1 adaptive control law is proposed to ensure assistance-as-needed and resistive rehabilitation following a desired trajectory considered defined by a therapeutic doctor. This control law introduces a time lag within the desired trajectory tracking because of the presence of a filter in its structure. In order to mitigate this drawback, the classical L1 adaptive control is augmented by a nonlinear proportional control. The classical and augmented L1 adaptive control laws are tested in real-time using the exoskeleton EICOSI of LISSI-lab. Real-time experimental results highlight the utility of these control laws in assistance-as-needed and resistive rehabilitation. They also show the effectiveness of the augmented version of the L1 adaptive control.
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Hala Rifai, Mohamed Ben Abdessalem, Ahmed Chemori, Samer Mohammed, Yacine Amirat. Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments. ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714, ⟨10.1109/ICRA.2016.7487794⟩. ⟨lirmm-01723920⟩

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