H. Rifaï — accepted AI-conference papers

2023

Adaptive based Assist-as-needed control strategy for Ankle movement assistance

R. Jradi, H. Rifaï, Y. Amirat, S. Mohammed

ICRA 2023poster

Stroke affects a large number of people every year. One consequence is the weakness of ambulatory muscles resulting in a paretic gait. Actuated ankle foot orthoses can be a solution to assist paretic patients to dorsiflex and/or plantar flex their ankle joint during the gait phases. To assist the we…

Cited by 5 Source ↗Scholar ↗

2018

Modified Adaptive Control of an Actuated Ankle Foot Orthosis to assist Paretic Patients

V. Arnez-Paniagua, H. Rifaï, Y. Amirat, S. Mohammed, M. Ghedira, J. M. Gracies

IROS 2018poster

In this paper, a model reference adaptive control with saturated proportional derivative (PD) action for an active ankle foot orthosis (AAFO) to assist the gait of paretic patients, is studied. Unlike most classical model-based controllers, the proposed controller does not require any prior estimati…

Cited by 9 Source ↗Scholar ↗