Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground

Mohammad A. Faraj; Boutheina Maalej; Nabil Derbel; Mohamed Deriche

doi:10.1109/SSD54932.2022.9955781

Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground

Mohammad A. Faraj
, Boutheina Maalej
, Nabil Derbel
, Mohamed Deriche

College of Engineering and Information Technology

University of Sfax
College of Engineering, University of Anbar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Rehabilitation devices perform nowadays suitable and excellent treatment for stroke patients. A Lower limb exoskeleton as a type of Rehabilitation devices has become the most known solution for lower limb rehabilitation of stroke patients. The essential part on lower limb exoskeleton work is to model and control it using a suitable modeling method and an efficient controller. For controlling a three degrees of freedom lower limb exoskeleton in case of contacting with ground ' a comparative study between a conventional computed torque controller (CCTC) and robust computed torque controller (RCTC) has been established. Simulation results has performed by comparing both controllers in the same conditions. Stability analysis of the control system has been performed by using a Lyapunov stability theorem. The results of simulation indicate that robust computed torque controller has a good tracking performance and an excellent robustness against system uncertainties and external disturbances as compared with conventional computed torque controller.

Original language	English
Title of host publication	2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	571-579
Number of pages	9
ISBN (Electronic)	9781665471084
DOIs	https://doi.org/10.1109/SSD54932.2022.9955781
State	Published - 2022
Event	19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 - Setif, Algeria Duration: 6 May 2022 → 10 May 2022

Publication series

Name	2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022

Conference

Conference	19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022
Country/Territory	Algeria
City	Setif
Period	6/05/22 → 10/05/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Computed Torque Controller
Lower limb Exoskeleton
Rehabilitation Robot
Robust control

Access to Document

10.1109/SSD54932.2022.9955781

Cite this

Faraj, M. A., Maalej, B., Derbel, N., & Deriche, M. (2022). Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground. In 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 (pp. 571-579). (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD54932.2022.9955781

Faraj, Mohammad A. ; Maalej, Boutheina ; Derbel, Nabil et al. / Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground. 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 571-579 (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022).

@inproceedings{83e4710635d74ba1adf96d239a14a64d,

title = "Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground",

abstract = "Rehabilitation devices perform nowadays suitable and excellent treatment for stroke patients. A Lower limb exoskeleton as a type of Rehabilitation devices has become the most known solution for lower limb rehabilitation of stroke patients. The essential part on lower limb exoskeleton work is to model and control it using a suitable modeling method and an efficient controller. For controlling a three degrees of freedom lower limb exoskeleton in case of contacting with ground ' a comparative study between a conventional computed torque controller (CCTC) and robust computed torque controller (RCTC) has been established. Simulation results has performed by comparing both controllers in the same conditions. Stability analysis of the control system has been performed by using a Lyapunov stability theorem. The results of simulation indicate that robust computed torque controller has a good tracking performance and an excellent robustness against system uncertainties and external disturbances as compared with conventional computed torque controller.",

keywords = "Computed Torque Controller, Lower limb Exoskeleton, Rehabilitation Robot, Robust control",

author = "Faraj, \{Mohammad A.\} and Boutheina Maalej and Nabil Derbel and Mohamed Deriche",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 ; Conference date: 06-05-2022 Through 10-05-2022",

year = "2022",

doi = "10.1109/SSD54932.2022.9955781",

language = "English",

series = "2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Faraj, MA, Maalej, B, Derbel, N & Deriche, M 2022, Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground. in 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022, Institute of Electrical and Electronics Engineers Inc., pp. 571-579, 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022, Setif, Algeria, 6/05/22. https://doi.org/10.1109/SSD54932.2022.9955781

Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground. / Faraj, Mohammad A.; Maalej, Boutheina; Derbel, Nabil et al.
2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 571-579 (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground

AU - Faraj, Mohammad A.

AU - Maalej, Boutheina

AU - Derbel, Nabil

AU - Deriche, Mohamed

PY - 2022

Y1 - 2022

N2 - Rehabilitation devices perform nowadays suitable and excellent treatment for stroke patients. A Lower limb exoskeleton as a type of Rehabilitation devices has become the most known solution for lower limb rehabilitation of stroke patients. The essential part on lower limb exoskeleton work is to model and control it using a suitable modeling method and an efficient controller. For controlling a three degrees of freedom lower limb exoskeleton in case of contacting with ground ' a comparative study between a conventional computed torque controller (CCTC) and robust computed torque controller (RCTC) has been established. Simulation results has performed by comparing both controllers in the same conditions. Stability analysis of the control system has been performed by using a Lyapunov stability theorem. The results of simulation indicate that robust computed torque controller has a good tracking performance and an excellent robustness against system uncertainties and external disturbances as compared with conventional computed torque controller.

AB - Rehabilitation devices perform nowadays suitable and excellent treatment for stroke patients. A Lower limb exoskeleton as a type of Rehabilitation devices has become the most known solution for lower limb rehabilitation of stroke patients. The essential part on lower limb exoskeleton work is to model and control it using a suitable modeling method and an efficient controller. For controlling a three degrees of freedom lower limb exoskeleton in case of contacting with ground ' a comparative study between a conventional computed torque controller (CCTC) and robust computed torque controller (RCTC) has been established. Simulation results has performed by comparing both controllers in the same conditions. Stability analysis of the control system has been performed by using a Lyapunov stability theorem. The results of simulation indicate that robust computed torque controller has a good tracking performance and an excellent robustness against system uncertainties and external disturbances as compared with conventional computed torque controller.

KW - Computed Torque Controller

KW - Lower limb Exoskeleton

KW - Rehabilitation Robot

KW - Robust control

UR - https://www.scopus.com/pages/publications/85143753368

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DO - 10.1109/SSD54932.2022.9955781

M3 - Conference contribution

AN - SCOPUS:85143753368

T3 - 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022

SP - 571

EP - 579

BT - 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022

Y2 - 6 May 2022 through 10 May 2022

ER -

Faraj MA, Maalej B, Derbel N, Deriche M. Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground. In 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 571-579. (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022). doi: 10.1109/SSD54932.2022.9955781

Modeling and Robust Computed Torque Control for Lower Limb Exoskeleton Contacting with Ground

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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