Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach
Source abstract
Abstract
This study focuses on developing a control methodology for exoskeleton robots designed for lower limb rehabilitation, specifically addressing the needs of elderly individuals and pediatric therapy. The approach centers on implementing an affine state-feedback controller to effectively regulate and stabilize the knee-joint exoskeleton robot at a desired position. The robot’s dynamics are nonlinear, accounting for unknown parameters, solid and viscous frictions, and external disturbances. To ensure robust stabilization, the Lyapunov approach is utilized to derive a set of Linear Matrix Inequality (LMI) conditions, guaranteeing the stability of the position error. The derivation of these LMI conditions is grounded in a comprehensive theoretical framework that employs advanced mathematical tools, including the matrix inversion lemma, Young’s inequality, the Schur complement, the S-procedure, and specific congruence transformations. Simulation results are presented to validate the proposed LMI conditions, demonstrating the effectiveness of the control strategy in achieving robust and accurate positioning of the lower limb rehabilitation exoskeleton robotic system.
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Research context
OpenAlex topics: Prosthetics and Rehabilitation Robotics · Muscle activation and electromyography studies · Mechanical Circulatory Support Devices
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Laboratory of Robotics, Informatics and Complex Systems (RISC Lab, LR16ES07), National Engineering School of Tunis, University of Tunis El Manar, BP. 37, Le Belvédère, Tunis 1002, Tunisia
Higher Institute of Information and Communication Technologies, University of Carthage, Technopole of Borj Cédria, Route de Soliman, BP. 123, Hammam Chatt, Ben Arous 1164, Tunisia
Department of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala 147004, Punjab, India
Department of Mechanical Engineering, Indian Institute of Technology Patna, Bihta, Patna 801106, Bihar, India
Department of Computing, Imperial College London, London SWS 2AZ, UK
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