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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Seddiki, L. Guelton, K. Mansouri, B. Zaytoon, J. |
| Copyright Year | 2006 |
| Description | Author affiliation: CReSTIC-URCA, Reims (Seddiki, L.; Guelton, K.; Mansouri, B.; Zaytoon, J.) |
| Abstract | This paper deals with the nonlinear control of a lower limbs isokinetic rehabilitation device based on a Takagi-Sugeno modeling. A parallel distributed compensation control law is used to stabilize the closed-loop system in the whole operational space. The human force applied to the device's arm is considered as an external disturbance to the system dynamics. To attenuate this disturbance, an Hinfin criterion is considered and classical stability conditions were adapted for a class of external perturbed TS model. The voluntary control of the movement by the patient is finally proposed with the use of a discrete state machine |
| Starting Page | 927 |
| Ending Page | 932 |
| File Size | 505087 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780397975 |
| DOI | 10.1109/CACSD-CCA-ISIC.2006.4776769 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-10-04 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Knee Fuzzy control Stability Humans Angular velocity control H infinity control Pi control Distributed control Takagi-Sugeno model Force control |
| Content Type | Text |
| Resource Type | Article |
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