Exoskeletons control via computed torque for lower limb rehabilitation

DOI10.1007/978-981-15-1819-5_7MaRDI QIDQ5857230zbMATH OpenOpenAlexFDO

Authors Racem Jribi, Boutheina Maalej, Nabil Derbel

Publication date 31 March 2021

Published in New Trends in Robot Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-981-15-1819-5_7

zbMATH Keywords

perturbationrehabilitationPID controllerscerebral palsyadaptive feedback linearizationexoskeletonsrobotic gait training

Mathematics Subject Classification ID

Medical applications (general) (92C50) Linearizations (93B18) Feedback control (93B52) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 3139099 (Why is no real title available?)
• Extended invariance principle for nonautonomous switched systems

Cited in

(4)

• Modelling and control of a lower limb exoskeleton driven by linear actuators
• Sensorless control for joint drive unit of lower extremity exoskeleton with cascade feedback observer
• \(L_1\) adaptive control of a lower limb exoskeleton dedicated to kids' rehabilitation
• Stimulation Interval Evaluation for Lower‐Limb Cycling Movement Based on Torque Observer

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