Modeling and Control of Rehabilitation Robotic Device: motoBOTTE

Juan Carlos Arceo Luzanilla , Jimmy Lauber (1, 2) , Lucien Robinault (1) , Sebastien Paganelli (1) , Mads Jochumsen , Imran Khan Niazi , Emilie Simoneau-Buessinger (1) , Sylvain Cremoux (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

The motoBOTTE is a robot designed for assistive rehabilitation. The identification of a mathematical model for the system is shown; then we design and implement a nonlinear control law for tracking a reference signal. The nonlinear controller design is achieved by combining an exact convex representation with the direct method of Lyapunov. Results are given in terms of linear matrix inequalities (LMI); simulation and real-time results are shown as well.

Mots clés: Robotic Rehabilitation Devices; Real-time Results; Linear Matrix Inequalities (LMI); Brain Computer Interface; Gait Training Robot

Domaines: Automatique / Robotique; Sciences du Vivant [q-bio]

Juan Carlos Arceo Luzanilla, Jimmy Lauber, Lucien Robinault, Sebastien Paganelli, Mads Jochumsen, et al.. Modeling and Control of Rehabilitation Robotic Device: motoBOTTE. 5th International Conference on NeuroRehabilitation, Oct 2018, Pisa, Italy. pp.546-550, ⟨10.1007/978-3-030-01845-0_110⟩. ⟨hal-03411287⟩