Concept and simulation of "Sys-RÃ©Ã©duc": Closed Muscular Chain Lower Limbs Rehabilitation Device

Author

Seddiki, L. ; Guelton, K. ; Leteneur, S. ; Zaytoon, J.

Author_Institution

CReSTIC-URCA, Reims

fYear

2007

fDate

13-15 June 2007

Firstpage

543

Lastpage

549

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICORR.2007.4428478

Filename

4428478