Abstract
This paper presents a bounded control strategy of a knee-joint exoskeleton that ensures knee flexion/extension movements during the assistance and rehabilitation processes. The control strategy is easy to implement, since it does not require any prior knowledge of the human effort. The proposed control law is based on nested saturations with the main advantage of explicitly avoiding the actuator’s saturation, guaranteeing and enhancing the wearer’s security. Lyapunov-based analysis is stated to prove: 1) the asymptotic stability of the shank-foot-exoskeleton in the absence of a human active effort; 2) the trajectories ultimate boundedness in the presence of parameter uncertainties; and 3) the input-to-state stability with respect to a bounded human active torque. Preliminary real-time experiments show satisfactory results in terms of assistance-as-needed and passive/resistive rehabilitation performances following desired trajectories expressing knee flexion/extension movements.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
