Title :
Concept and simulation of "Sys-Rééduc": Closed Muscular Chain Lower Limbs Rehabilitation Device
Author :
Seddiki, L. ; Guelton, K. ; Leteneur, S. ; Zaytoon, J.
Author_Institution :
CReSTIC-URCA, Reims
Abstract :
This paper deals with a concept of a lower limbs closed loop rehabilitation device. The human force applied to this device is considered as an external disturbance to the system dynamics. A control structure was proposed to track desired trajectories and to attenuate the external disturbances. Stability conditions are given in terms of Linear Matrix Inequalities (LMI) using a quadratic Lyapunov function and an H-infinity criterion. Finally, the simulation of the designed device on an isokinetic movement illustrates the efficiency of the proposed control structure.
Keywords :
Lyapunov matrix equations; medical control systems; patient rehabilitation; H-infinity criterion; closed muscular chain lower limbs rehabilitation device; control structure; external disturbances; human force; isokinetic movement; linear matrix inequalities; quadratic Lyapunov function; H infinity control; Humans; Knee; Linear matrix inequalities; Lyapunov method; Neuromuscular; Recruitment; Rehabilitation robotics; Stability criteria; Trajectory;
Conference_Titel :
Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on
Conference_Location :
Noordwijk
Print_ISBN :
978-1-4244-1320-1
Electronic_ISBN :
978-1-4244-1320-1
DOI :
10.1109/ICORR.2007.4428478
