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Book Sections Year : 2019

On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions

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Nadjah Roula
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  • PersonId : 1042573
Rany Rizk
  • Function : Author
Youssef Zaatar
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  • PersonId : 945524

Abstract

This paper deals with the control of a lower limb orthosis. In which a model of the shank-orthosis system is given, we consider the human effort as external torque acting on the system. A comparative study, through a number of simulations in different operational scenarios, highlights the limits of a standard PID controller. On another hand, this work brings out the benefits of orienting the control strategies toward model reference approaches. Hence, a better exploitation of the nonlinear system dynamics; by deriving adaptive control strategies to enable the management of parameters uncertainty could be a relevant approach for such systems.
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Dates and versions

lirmm-02011321 , version 1 (07-02-2019)

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Nadjah Roula, Ahmed Chemori, Rany Rizk, Youssef Zaatar. On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions. Mechanism, Machine, Robotics and Mechatronics Sciences, Mechanisms and Machine Science (58), pp.81-97, 2019, 978-3-319-89910-7. ⟨10.1007/978-3-319-89911-4_7⟩. ⟨lirmm-02011321⟩
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