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
Abstract
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 a time lag within the desired trajectory tracking due to the presence of a filter in its structure. In order to mitigate this drawback, the classical −1 adaptive control is augmented by a nonlinear proportional control. The classical and augmented −1 adaptive control laws are tested in real-time using the Exoskeleton Intelligently COmmunicating and Sensitive to Intention (EICOSI) of LISSI-lab. Real-time experimental results highlight the utility of these control laws in assistance-as-needed and resistive rehabilitation paradigms.
BibTeX
@inproceedings{icra2016_augmented1adapti,
title = {Augmented -1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments},
author = {Hala Rifai and M. S. Ben Abdessalem and Ahmed Chemori and Samer Mohammed and Yacine Amirat},
booktitle = {ICRA 2016},
year = {2016}
}