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Concept and simulation of "Sys-Rééduc": Closed Muscular Chain Lower Limbs Rehabilitation Device

Lynda Seddiki 1 Kevin Guelton 1 Sebastien Leteneur 2 Janan Zaytoon 1
1 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
Abstract : This paper deals with a concept of a lower limbs closed loop rehabilitation device. The human force applied to this device is considered as an external disturbance to the system dynamics. A control structure was proposed to track desired trajectories and to attenuate the external disturbances. Stability conditions are given in terms of Linear Matrix Inequalities (LMI) using a quadratic Lyapunov function and an H-infinity criterion. Finally, the simulation of the designed device on an isokinetic movement illustrates the efficiency of the proposed control structure.
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Lynda Seddiki, Kevin Guelton, Sebastien Leteneur, Janan Zaytoon. Concept and simulation of "Sys-Rééduc": Closed Muscular Chain Lower Limbs Rehabilitation Device. 2007 IEEE 10th International Conference on Rehabilitation Robotics, Jun 2007, Noordwijk, Netherlands. ⟨10.1109/ICORR.2007.4428478⟩. ⟨hal-01736804⟩

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