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Trajectory generator design based on the user's intentions for a CMC lower-limbs rehabilitation device

Published online by Cambridge University Press:  28 July 2014

L. Seddiki ,
K. Guelton ,
J. Zaytoon  and
H. Akdag
L. Seddiki*
Affiliation:
LIASD EA4383, Paris 8 University, 2 rue de la Liberté, 93526 Saint-Denis Cedex 2, France
K. Guelton
Affiliation:
CReSTIC EA3804, University of Reims Champagne-Ardenne, Moulin de la Housse BP 1039, 51687 Reims Cedex 2, France
J. Zaytoon
Affiliation:
CReSTIC EA3804, University of Reims Champagne-Ardenne, Moulin de la Housse BP 1039, 51687 Reims Cedex 2, France
H. Akdag
Affiliation:
LIASD EA4383, Paris 8 University, 2 rue de la Liberté, 93526 Saint-Denis Cedex 2, France
*
*Corresponding author. E-mail: lynda.seddiki@ai.univ-paris8.fr
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Summary

This paper deals with the design of the control structure of a lower-limbs rehabilitation device in closed muscular chain called Sys-Reeduc. This control structure aims at providing a safe behavior to the user when performing rehabilitation exercises. It is based on two levels. The first level is concerned with the robust trajectory tracking of robotic device and has been the subject of previous studies. Nevertheless, it does not allow, by itself, the user to voluntarily drive the device. Therefore, a trajectory generator constituting the second level is presented in this paper to complete the whole control structure. This high-level control layer is described by a set of dedicated discrete state machines that provide the appropriate sequencing of elementary rehabilitation movements. These elementary movements are dynamically characterized so that clinician may choose the required trajectory parameters to adapt rehabilitation protocols and training to each individual. To realize a complete rehabilitation exercise, the sequence of elementary movements is triggered by thresholds relative to the measurement of the efforts applied by the user on the device. This allows the user to play an active role in its rehabilitation exercises and safely drive the machine at his/her own initiative. The design of the main exercises (isokinetic, isometric, and isotonic) used in the context of lower limbs rehabilitation is described, and simulation results illustrate the effectiveness of the proposed trajectory generator-based control approach.

Keywords

Lower limbs rehabilitationRehabilitation deviceControl structureTrajectory generatorHuman-driven rehabilitation device
Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016 , pp. 1026 - 1041
Copyright
Copyright © Cambridge University Press 2014 

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