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

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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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02011321
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Submitted on : Thursday, February 7, 2019 - 7:03:25 PM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
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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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