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.
Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation
Studies in Systems, Decision and Control
2020-02-12
21 pages
Article/Chapter (Book)
Electronic Resource
English
Rehabilitation , Cerebral palsy , Robotic gait training , Exoskeletons , PID controllers , Perturbation , Adaptive feedback linearization Engineering , Robotics and Automation , Control and Systems Theory , Vibration, Dynamical Systems, Control , Mathematical and Computational Engineering , Complex Systems , Mathematics of Algorithmic Complexity
Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons
BASE | 2021
|Gait Rehabilitation with Exoskeletons
Springer Verlag | 2018
|