Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadatas
https://hal.univ-reims.fr/hal-01736804
Contributor : Kevin Guelton <>
Submitted on : Sunday, March 18, 2018 - 4:29:49 PM
Last modification on : Tuesday, July 7, 2020 - 1:53:56 PM

Identifiers

Collections

URCA | CNRS | CRESTIC | INSMI | TDS-MACS | UNIV-VALENCIENNES

Citation

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⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

134

 

HAL-contact@univ-reims.fr