Fast replanning of a lower-limb exoskeleton trajectories for rehabilitation - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année :

Fast replanning of a lower-limb exoskeleton trajectories for rehabilitation

(1, 2) , (1) , (2) , (2)
1
2

Résumé

The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without jeopardizing stability. Stability is evaluated in the light of a simple linear time-invariant surrogate model. The method's core is the analysis of an input-constrained optimal control problem with state specified at an unspecified terminal time. A detailed study of the extremals given by Pontryagin Maximum Principle is sufficient to characterize its feasibility. This allows a fast replanning strategy. The efficiency of the numerical algorithm (resolution time below 1 ms) yields responsiveness to the patient's request. Realistic simulations on a full-body model of the patient-exoskeleton system stress that cases of practical interest for physiotherapists are well-addressed.
Fichier principal
Vignette du fichier
Fast_replanning.pdf (2.84 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03772920 , version 1 (08-09-2022)

Identifiants

Citer

Maxime Brunet, Marine Pétriaux, Florent Di Meglio, Nicolas Petit. Fast replanning of a lower-limb exoskeleton trajectories for rehabilitation. Conference on Decision and Control, 2022 IEEE 61st Conference on Decision and Control (CDC), Dec 2022, Cancun, Mexico. ⟨10.1109/CDC51059.2022.9992460⟩. ⟨hal-03772920⟩
20 Consultations
10 Téléchargements

Altmetric

Partager

Gmail Facebook Twitter LinkedIn More