Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach

Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach

This study focuses on developing a control methodology for exoskeleton robots designed for lower limb rehabilitation, specifically addressing the needs of elderly individuals and pediatric therapy. The approach centers on implementing an affine state-feedback controller to effectively regulate and s...

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Bibliographic Details
Main Authors: Sahar Jenhani, Hassène Gritli, Jyotindra Narayan
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Applied Sciences
Subjects:
knee exoskeleton robot
rehabilitation
robust position control
affine state-feedback control
LMI condition
Lyapunov approach
Online Access:https://www.mdpi.com/2076-3417/15/1/404
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