Hala Rifai — accepted AI-conference papers

2018

Cooperative Control for Knee Joint Flexion-Extension Movement Restoration

Mohamed Amine Alouane, Hala Rifai, Yacine Amirat, Samer Mohammed

IROS 2018poster

This paper describes a cooperative control approach that combines the use of a powered knee joint orthosis along with Functional Electrical Stimulation (FES) for knee joint flexion-extension movement restoration. A closed-loop adaptive control and an open-loop FES of the quadriceps muscle group are…

Cited by 10 Source ↗Scholar ↗

2016

Augmented -1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments

Hala Rifai, M. S. Ben Abdessalem, Ahmed Chemori, Samer Mohammed, Yacine Amirat

ICRA 2016

This paper deals with the control of a lower limb exoskeleton acting at the knee joint level. Classical −1 adaptive control law is proposed to ensure assistance-as-needed and resistive rehabilitation following a desired trajectory that is defined by a therapeutic doctor. This control law introduces

Cited by 22 Source ↗Scholar ↗