Robust Position Control of an Exoskeleton Robot for Knee Rehabilitation Utilizing an LMI-Based Affine State-Feedback Controller DOI
Sahar Jenhani, Hassène Gritli

Published: Jan. 1, 2024

Language: Английский

Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach DOI Creative Commons
Sahar Jenhani, Hassène Gritli, Jyotindra Narayan

et al.

Applied Sciences, Journal Year: 2025, Volume and Issue: 15(1), P. 404 - 404

Published: Jan. 4, 2025

This study focuses on developing a control methodology for exoskeleton robots designed lower limb rehabilitation, specifically addressing the needs of elderly individuals and pediatric therapy. The approach centers implementing an affine state-feedback controller to effectively regulate stabilize knee-joint robot at desired position. robot’s dynamics are nonlinear, accounting unknown parameters, solid viscous frictions, external disturbances. To ensure robust stabilization, Lyapunov is utilized derive set Linear Matrix Inequality (LMI) conditions, guaranteeing stability position error. derivation these LMI conditions grounded in comprehensive theoretical framework that employs advanced mathematical tools, including matrix inversion lemma, Young’s inequality, Schur complement, S-procedure, specific congruence transformations. Simulation results presented validate proposed demonstrating effectiveness strategy achieving accurate positioning rehabilitation robotic system.

Language: Английский

Citations

2
Comprehensive multi-metric analysis of user experience and performance in adaptive and non-adaptive lower-limb exoskeletons DOI Creative Commons

Krongkaew Supapitanon,

Tanyaporn Patathong, Chaicharn Akkawutvanich

et al.

PLoS ONE, Journal Year: 2025, Volume and Issue: 20(1), P. e0313593 - e0313593

Published: Jan. 9, 2025

Among control methods for robotic exoskeletons, biologically inspired based on central pattern generators (CPGs) offer a promising approach to generate natural and robust walking patterns. Compared other approaches, like model-based machine learning-based control, the provides robustness perturbations, requires less computational power, does not need system models or large learning datasets. While it has shown effectiveness, comprehensive evaluation of its user experience is lacking. Thus, this study addressed gap by investigating performance state-of-the-art adaptive CPG-based exoskeleton (intelligent mode) under multi-metric analysis (involving three-dimensional gait analysis, muscle activity, oxygen consumption, comfort, scores) comparing standard commercial (default mode). A cross-over design with randomized allocation in Thai healthy independently adults ensured participants experienced both modes. All were assigned into two groups receive an alternate sequence intelligent mode default lower-limb Exo-H3 at high normal speed. From eight participants, mode-driven (adaptive exoskeleton) showed significantly lower velocity, stride, step lengths than (non-adaptive exoskeleton). This setup increased anterior pelvic tilt during mid-swing speed (3.69 ± 1.77 degrees, p = 0.001) (2.52 1.69 0.004), hip flexion stance phase ankle dorsiflexion, used consumption (-2.03 2.07 ml/kg/min) when compared one. No significant differences comfort scores between Further exoskeletal modification terms hardware still needed improve temporal spatial, kinematics, performance.

Language: Английский

Citations

0
LMI-based robust composite position control of a knee rehabilitation exoskeleton robot subject to motion constraints DOI
Sahar Jenhani, Hassène Gritli, Jyotindra Narayan

et al.

International Journal of Dynamics and Control, Journal Year: 2025, Volume and Issue: 13(3)

Published: March 1, 2025

Language: Английский

Citations

0
An LMI-based Composite Nonlinear Controller Design for Robust Stabilization of a Knee Rehabilitation Exoskeleton Robot DOI
Sahar Jenhani, Hassène Gritli, Jyotindra Narayan

et al.

2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), Journal Year: 2024, Volume and Issue: unknown, P. 1430 - 1435

Published: July 1, 2024

Language: Английский

Citations

1
LMI-Based Design of an Affine PD Controller for the Position Control of Robotic Systems with Application to Human Upper-Limb Rehabilitation via an Exoskeleton Robot DOI
Hassène Gritli

Published: Jan. 1, 2024

Language: Английский

Citations

0
LMI-Based Robust Control Strategy for a Knee Rehabilitation Exoskeleton: Addressing State Constraints, Parameter Uncertainties and External Disturbances DOI
Sahar Jenhani, Hassène Gritli

Published: Jan. 1, 2024

Language: Английский

Citations

0
Robust Position Control of an Exoskeleton Robot for Knee Rehabilitation Utilizing an LMI-Based Affine State-Feedback Controller DOI
Sahar Jenhani, Hassène Gritli

Published: Jan. 1, 2024

Language: Английский

Citations

0