Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments
| Autor: | M.S. Ben Abdessalem, Yacine Amirat, Samer Mohammed, Hala Rifai, Ahmed Chemori |
|---|---|
| Přispěvatelé: | SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Conception et commande de robots pour la manipulation ( DEXTER ), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier ( LIRMM ), Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ), Robotique médicale et mécanismes parallèles (DEXTER), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
030506 rehabilitation
0209 industrial biotechnology Engineering Adaptive control Proportional control 02 engineering and technology Knee Joint [SPI.AUTO]Engineering Sciences [physics]/Automatic 03 medical and health sciences 020901 industrial engineering & automation Control theory [ SPI.AUTO ] Engineering Sciences [physics]/Automatic Actuated knee joint exoskeleton Assistance-as-needed rehabilitation Resistive touchscreen business.industry Control engineering Exoskeleton Nonlinear system Nonlinear proportional control Filter (video) Trajectory tracking Augmented L1 adaptive control Trajectory 0305 other medical science business |
| Zdroj: | 33rd IEEE International Conference on Robotics and Automation ICRA: International Conference on Robotics and Automation ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714, ⟨10.1109/ICRA.2016.7487794⟩ IEEE International Conference on Robotics and Automation ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. IEEE, IEEE International Conference on Robotics and Automation, pp.5708-5714, 2016, 〈10.1109/ICRA.2016.7487794〉 ICRA |
| Popis: | International audience; 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. |
| Databáze: | OpenAIRE |
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