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Fast replanning of a lower-limb exoskeleton trajectories for rehabilitation

Abstract : 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.
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Contributor : Maxime Brunet Connect in order to contact the contributor
Submitted on : Thursday, September 8, 2022 - 4:19:34 PM
Last modification on : Sunday, September 11, 2022 - 3:02:36 AM


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  • HAL Id : hal-03772920, version 1
  • ARXIV : 2209.04155


Maxime Brunet, Marine Pétriaux, Florent Di Meglio, Nicolas Petit. Fast replanning of a lower-limb exoskeleton trajectories for rehabilitation. 2022. ⟨hal-03772920⟩



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