Design of a Rehabilitation Exoskeleton with Impedance Control: First Experiments

Gaetan Courtois (1) , Jason Chevrie (1) , Antoine Dequidt (1) , Xavier Bonnet , Philippe Pudlo (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

In this paper, we disclose the design strategy, control design and preliminary works leading to the development of a post stroke gait rehabilitation exoskeleton. The strategy is established based on the conventional gait rehabilitation currently used in rehabilitation centers and defines the exoskeleton as an interface between the therapist and the patient. The final purpose of this interface is to complete the conventional rehabilitation by intensifying the work of the patient while relieving the physical burden on the therapist. As the conventional rehabilitation is based on successive exercises the control is designed to have several operating modes triggered depending on the currently processing exercise. A test bench was realised to evaluate quantitatively as well as qualitatively these operating modes. Preliminary results of quantitative experiments on the transparent operation mode are then presented. These results validate the control design and comfort us on our development method.

Mots clés: Lower-Limb Exoskeleton; Impedance Control; Gait Rehabilitation

Domaines: Automatique / Robotique

Gaetan Courtois, Jason Chevrie, Antoine Dequidt, Xavier Bonnet, Philippe Pudlo. Design of a Rehabilitation Exoskeleton with Impedance Control: First Experiments. 18th International Conference on Informatics in Control, Automation and Robotics, Jul 2021, Online Streaming, France. pp.469-476, ⟨10.5220/0010580004690476⟩. ⟨hal-03407078⟩