Abstract
This paper deals with the control of a lower limb orthosis. In which a model of the shank-orthosis system is given, we consider the human effort as external torque acting on the system. A comparative study, through a number of simulations in different operational scenarios, highlights the limits of a standard PID controller. On another hand, this work brings out the benefits of orienting the control strategies toward model reference approaches. Hence, a better exploitation of the nonlinear system dynamics; by deriving adaptive control strategies to enable the management of parameters uncertainty could be a relevant approach for such systems.
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Roula, N., Chemori, A., Rizk, R., Zaatar, Y. (2019). On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions. In: Rizk, R., Awad, M. (eds) Mechanism, Machine, Robotics and Mechatronics Sciences. Mechanisms and Machine Science, vol 58. Springer, Cham. https://doi.org/10.1007/978-3-319-89911-4_7
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DOI: https://doi.org/10.1007/978-3-319-89911-4_7
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