Abstract Recent technological advances made necessary the use of robots in various types applications. Unlike traditional robot-like scenarios dedicated to industrial applications with repetitive tasks, current focus attention is on that require close human interactions. One main fields such concerns assisting and rehabilitating dependent/elderly persons. In this study, state-of-the-art research lower-limbs assistance presented. This includes a review covering mainly lower-limb actuated...

This paper presents a bounded control strategy of knee-joint exoskeleton that ensures knee flexion/extension movements during the assistance and rehabilitation processes. The is easy to implement, since it does not require any prior knowledge human effort. proposed law based on nested saturations with main advantage explicitly avoiding actuator's saturation, guaranteeing enhancing wearer's security. Lyapunov-based analysis stated prove: 1) asymptotic stability shank-foot-exoskeleton in...

The paper concerns the control of a lower limb orthosis acting on knee joint level. Therefore, model shank-orthosis system is given considering human effort as an external torque system. A reference adaptive law developed and applied to in order make (shank-orthosis) track desired trajectory predefined by rehabilitation doctor. main advantage this on-line parameters regulation allowing ensure best performance Lyapunov-based analysis performed prove input-to-state stability with respect...

Sit To Stand (STS) movement is an important daily living activity and usually a difficult task to achieve, particularly, by post stroke patients. In this study hybrid control approach that combines the use of impedance-based exoskeleton controller event-based Functional Electrical Stimulation (FES) knee extensor muscle assist STS transfer within assistance as needed strategy. Actuation active lower limb done using Serial Elastic Actuator (SEA) uses torsion spring guarantee measurement human...

This paper presents an overview of some existing techniques Quality Service QoS and Experience QoE. stands for the quality network in terms transporting data with a minimum delay packet loss maximum bandwidth. The extremum values depend surely provided service. QoE defines perceived by user is assessed at terminal level. It can be computed through objective subjective ways. A comparison two as well improvement service combining them are also addressed.

This paper presents a new human-exoskeleton interaction approach to provide torque assistance of the lower limb movements upon wearer's intention. The exoskeleton interacts with wearer; shank-foot orthosis system behaves as second order dynamic gravity and elastic balance. intention wearer is estimated by using realistic musculoskeletal model muscles actuating knee joint. identification process concerns inertial parameters shank-foot, musculotendon parameters. Real-time experiments,...

Wearable robots have defined a new horizon for elderly and disabled people, to regain control of their limbs, as well healthy increase abilities hard missions execution. The present paper deals with the lower limb orthosis applied at knee joint level rehabilitation purposes. A bounded torque is developed in order guarantee asymptotic stability orthosis. law respects physical constraints system. Moreover, it robust respect external disturbances. effectiveness tested real-time using EICOSI LISSI Lab.

This paper deals with the control of a lower limb exoskeleton acting at knee joint level. Classical −1 adaptive law is proposed to ensure assistance-as-needed and resistive rehabilitation following desired trajectory that defined by therapeutic doctor. introduces time lag within tracking due presence filter in its structure. In order mitigate this drawback, classical augmented nonlinear proportional control. The laws are tested real-time using Exoskeleton Intelligently COmmunicating...

This paper deals with the control of an actuated-ankle-foot-orthosis (AAFO) intended to help foot-drop patients. The foot-AAFO system is driven by human torque delivered muscles spanning ankle joint and AAFO's actuator's torque. A model reference adaptive proposed dorsiflex foot during swing phase. Unlike most classical model-based controllers, one does not require any prior estimation system's (foot-AAFO) parameters. trajectory was extracted gait activities healthy subjects in a clinical...

This paper presents a bounded control of flapping micro aerial vehicle (MAV) in three dimensions. First, simplified model the MAV is presented aiming to test law. The averaging theory shows that for high frequency systems, only mean aerodynamic forces and torques over period affect movement body. Therefore, nonlinear state feedback control, calculated using averaged model, applied time varying system order stabilize it at desired position hovering mode. robustness tested with respect...

Purpose – The purpose of this paper is the control lower limb orthosis acting at knee joint level for a passive rehabilitation purpose. Design/methodology/approach A law, based on saturated proportional derivative controller, proposed in order to drive shank-foot-orthosis system along desired trajectory. Findings law tested real time using EICOSI LISSI-Laboratory. experiments show that capable providing satisfactory trajectory tracking performance given only angle measurement. Moreover,...

This paper deals with the control of an active ankle foot orthosis (AAFO) to assist gait paretic patients. The AAFO system is driven by both, residual human torque delivered muscles spanning joint and AAFO's actuator's torque. A projection-based model reference adaptive proposed dorsiflexion plantar-flexion during daily living walking activities. Unlike most classical model-based controllers, one does not require any prior estimation system's (foot-AAFO) parameters. trajectory was extracted...

Purpose This paper aims to deal with the design of new hybrid approach for assistance flexion extension movement knee joint. Design/methodology/approach The control combines use a joint orthosis along functional electrical stimulation (FES) within an assist-as-needed paradigm. An active impedance controller is used assist generation muscular patterns during sub-phase movement. generated FES are appropriately tailored achieve flexion/extension joint, which allows providing required by subject...

Stroke affects a large number of people every year. One consequence is the weakness ambulatory muscles resulting in paretic gait. Actuated ankle foot orthoses can be solution to assist patients dorsiflex and/or plantar flex their joint during gait phases. To wearer following predefined desired trajectory, an adaptive active disturbance rejection controller proposed this study. The human muscular torque and estimation errors are estimated through nonlinear observer based on model. This...

Foot-drop (FD) is a post-stroke gait disorder characterized by impaired foot lifting during the swing phase. This paper focuses on providing continuous ankle joint assistance throughout cycle using an actuated orthosis (AAFO). The control strategy based adaptive active disturbance rejection controller (AADRC) such that provides only required amount of to complement human effort needed perform walking activity. proposed exhibits adaptability, making it suitable for various subjects without...

The paper deals with the obstacle avoidance problem for unmanned aerial vehicles (UAVs) operating in teleoperated mode. First, a feedback controller that we proposed recently stabilization of UAV's linear velocity is recalled. Then, based on sensory measurements, control strategy order to modify reference on-line neighborhood obstacles so as avoid collisions. Both cases telemetry and optical flow sensors are addressed. Stability properties established Lyapunov analysis. Simulations results...

This paper describes a cooperative control approach that combines the use of powered knee joint orthosis along with Functional Electrical Stimulation (FES) for flexion-extension movement restoration. A closed-loop adaptive and an open-loop FES quadriceps muscle group are combined together to track desired angle trajectory flexion/extension movements. nonlinear disturbance observer is used estimate torque provided by subject's muscles through FES. Simulations experiments healthy subject show...