Abstract
In this chapter, four adaptive controllers have been proposed to control a 2-DOF exoskeleton dedicated to kids’ rehabilitation. These control laws are implemented at the hip and the knee joints. In fact, tracking the gait scheme with an intense and a precise work may allow children to increase their brain plasticity. Through the proposed study, it is shown that the augmented \(L_1\) adaptive controller is robust regards to parametric variations. Besides, to validate this controller, different scenarios and simulations were carried out to prove its effectiveness.
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Acknowledgements
The present work is supported by (i) the “Association de Sauvegarde des Handicapés Moteurs - Sfax” (ASHMS), the (ii) Clinical Inverstigation Center (CIC) of the Hospitalo−University Center of Sfax (CHU) Tunisia, (iii) the Laboratory “Control & Energy Managements” (CEMLab) of the “National School of Engineering of Sfax”, University of Sfax, Tunisia, and (iv) the Digital Research Center of Sfax, Tunisia (CRNS).
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Maalej, B., Chemori, A., Derbel, N. (2020). \(L_1\) Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ Rehabilitation. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_6
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DOI: https://doi.org/10.1007/978-981-15-1819-5_6
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