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A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot

Abstract : Exoskeletons are the most efficient devices used to help children, suffering from several diseases, to walk compared to the use of wheelchairs. In rehabilitation, relearning to walk is very important. In fact, repetitive tasks improve human locomotory performances. This paper aims to deal with the control problem of a two degree of freedom lower limb exoskeleton. During the control process, high torques are considered as a major constraint. Thus, a fuzzy sliding mode controller is implemented. Moreover, stability analysis is presented using Lyapunov theory.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-03135772
Contributor : Ahmed Chemori <>
Submitted on : Tuesday, February 9, 2021 - 11:32:51 AM
Last modification on : Tuesday, March 9, 2021 - 5:09:25 PM
Long-term archiving on: : Monday, May 10, 2021 - 6:31:19 PM

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Boutheina Maalej, Ahmed Chemori, Hanene Medhaffar, Nabil Derbel. A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot. 17th International Multi-Conference on Systems, Signals and Devices (SSD 2020), Jul 2020, Sfax, Tunisia. ⟨lirmm-03135772⟩

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