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A Novel LQR-Based Cascaded Control Scheme of a Powered Knee Joint Orthosis for Rehabilitation

Abstract : In order to improve the healthcare services quality, various initiatives have been carried out to develop new assistive technologies such as wearable robots. This paper deals with the control of an actuated knee joint orthosis dedicated to assistive and rehabilitation purposes. The proposed control scheme is based on a nonlinear state feedback complied with a linear quadratic regulator (LQR) in a cascaded control architecture. The proposed control scheme has been validated in simulation for the control of an active orthosis in various operating conditions and compared with a PID controller. The obtained simulation results show clearly the efficiency of the proposed control scheme and its superiority with respect to the PID in terms of the tracking performance and the comfort of the user.
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Contributor : Ahmed Chemori Connect in order to contact the contributor
Submitted on : Wednesday, January 12, 2022 - 2:19:15 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
Long-term archiving on: : Wednesday, April 13, 2022 - 11:03:48 PM


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Ines Jammeli, Ahmed Chemori, Salwa Elloumi, Samer Mohammed. A Novel LQR-Based Cascaded Control Scheme of a Powered Knee Joint Orthosis for Rehabilitation. ICSC 2021 - 9th International Conference on Systems and Control, Nov 2021, Caen, France. pp.361-366, ⟨10.1109/ICSC50472.2021.9666730⟩. ⟨lirmm-03523073⟩



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