Several are the diseases that cause difficulties in walking. This chapter concerns the assistance of deficient kids using a robotic system. In this context, the lokomat appears to be the most suitable system for kids suffering from cerebral palsy. Hence, PID controllers based on feedback linearization and adaptive feedback linearization approaches have been proposed to control 2 DOF exoskeletons which are considered as the fundamental part of the lokomat system. Besides, in order to test the effectiveness and the robustness of these controllers, several cases have been proposed. Simulations were carried out to compare and to show the well desired trajectory tracking in these cases.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation


    Weitere Titelangaben:

    Studies in Systems, Decision and Control


    Beteiligte:
    Ghommam, Jawhar (Herausgeber:in) / Derbel, Nabil (Herausgeber:in) / Zhu, Quanmin (Herausgeber:in) / Jribi, Racem (Autor:in) / Maalej, Boutheina (Autor:in) / Derbel, Nabil (Autor:in)


    Erscheinungsdatum :

    2020-02-12


    Format / Umfang :

    21 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Upper-Limb Exoskeletons for Stroke Rehabilitation

    Ambrosini E. / Dalla Gasperina S. / Gandolla M. et al. | BASE | 2020

    Freier Zugriff

    An Adjustable Compliant Joint for Lower-Limb Exoskeletons

    Cestari Soto, Manuel / Sanz Merodio, Daniel / Arévalo, Juan Carlos et al. | BASE | 2015

    Freier Zugriff

    Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

    Dalla Gasperina S. / Roveda L. / Pedrocchi A. et al. | BASE | 2021

    Freier Zugriff

    Performance Evaluation of Lower Limb Exoskeletons: A Systematic Review

    Pinto-Fernandez, D. / Torricelli, Diego / Sanchez-Villamanan, Maria del Carmen et al. | BASE | 2020

    Freier Zugriff

    Gait Rehabilitation with Exoskeletons

    Federici, Stefano / Meloni, Fabio / Bracalenti, Marco | Springer Verlag | 2018