Bounded Control of an Actuated Lower-Limb Exoskeleton
A bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder. Complete and partial lower-limb motor function disorders are considered. This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting pos...
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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2017/2423643 |
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| _version_ | 1832548924324315136 |
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| author | Michael Oluwatosin Ajayi Karim Djouani Yskandar Hamam |
| author_facet | Michael Oluwatosin Ajayi Karim Djouani Yskandar Hamam |
| author_sort | Michael Oluwatosin Ajayi |
| collection | DOAJ |
| description | A bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder. Complete and partial lower-limb motor function disorders are considered. This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting position. A high gain observer is used in the estimation of the angular position and angular velocities which is then applied to the estimation of the joint torques. The level of human contribution is feedback of a fraction of the estimated joint torque. This is utilised in order to meet the demands for a bounded human torque; that is, τh≤N2,n≤N1,n. The asymptotic stability of the bounded control law without human contribution and the convergence analysis of the high gain observer is verified using Lyapunov-based analysis. Simulations are performed to verify the proposed control law. Results obtained guarantee a fair trajectory tracking of the physiotherapist trajectory. |
| format | Article |
| id | doaj-art-df2ce68b60d943aeb5101f5192cb0b18 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-df2ce68b60d943aeb5101f5192cb0b182025-02-03T06:12:47ZengWileyJournal of Robotics1687-96001687-96192017-01-01201710.1155/2017/24236432423643Bounded Control of an Actuated Lower-Limb ExoskeletonMichael Oluwatosin Ajayi0Karim Djouani1Yskandar Hamam2F’SATI, Department of Electrical Engineering, Tshwane University of Technology, Staatsartillerie Road, Pretoria West, Pretoria, South AfricaF’SATI, Department of Electrical Engineering, Tshwane University of Technology, Staatsartillerie Road, Pretoria West, Pretoria, South AfricaF’SATI, Department of Electrical Engineering, Tshwane University of Technology, Staatsartillerie Road, Pretoria West, Pretoria, South AfricaA bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder. Complete and partial lower-limb motor function disorders are considered. This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting position. A high gain observer is used in the estimation of the angular position and angular velocities which is then applied to the estimation of the joint torques. The level of human contribution is feedback of a fraction of the estimated joint torque. This is utilised in order to meet the demands for a bounded human torque; that is, τh≤N2,n≤N1,n. The asymptotic stability of the bounded control law without human contribution and the convergence analysis of the high gain observer is verified using Lyapunov-based analysis. Simulations are performed to verify the proposed control law. Results obtained guarantee a fair trajectory tracking of the physiotherapist trajectory.http://dx.doi.org/10.1155/2017/2423643 |
| spellingShingle | Michael Oluwatosin Ajayi Karim Djouani Yskandar Hamam Bounded Control of an Actuated Lower-Limb Exoskeleton Journal of Robotics |
| title | Bounded Control of an Actuated Lower-Limb Exoskeleton |
| title_full | Bounded Control of an Actuated Lower-Limb Exoskeleton |
| title_fullStr | Bounded Control of an Actuated Lower-Limb Exoskeleton |
| title_full_unstemmed | Bounded Control of an Actuated Lower-Limb Exoskeleton |
| title_short | Bounded Control of an Actuated Lower-Limb Exoskeleton |
| title_sort | bounded control of an actuated lower limb exoskeleton |
| url | http://dx.doi.org/10.1155/2017/2423643 |
| work_keys_str_mv | AT michaeloluwatosinajayi boundedcontrolofanactuatedlowerlimbexoskeleton AT karimdjouani boundedcontrolofanactuatedlowerlimbexoskeleton AT yskandarhamam boundedcontrolofanactuatedlowerlimbexoskeleton |