Abstract
Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb.
Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along with the limbs to which it is attached.
Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances.
Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.
Keywords: Rehabilitation, orthosis, dynamic modeling, sliding mode control, PID, IMC.
Current Signal Transduction Therapy
Title:Sliding Mode Control of an Actuated Knee Joint Orthosis
Volume: 16 Issue: 3
Author(s): Imen Saidi*Asma Hammami
Affiliation:
- Laboratory of Research in Automatic Control - LA.R.A, National Engineering School of Tunis (ENIT), University of Tunis El Manar, Tunis,Tunisia
Keywords: Rehabilitation, orthosis, dynamic modeling, sliding mode control, PID, IMC.
Abstract:
Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb.
Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along with the limbs to which it is attached.
Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances.
Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.
Export Options
About this article
Cite this article as:
Saidi Imen *, Hammami Asma , Sliding Mode Control of an Actuated Knee Joint Orthosis, Current Signal Transduction Therapy 2021; 16 (3) . https://dx.doi.org/10.2174/1574362415999210104223820
DOI https://dx.doi.org/10.2174/1574362415999210104223820 |
Print ISSN 1574-3624 |
Publisher Name Bentham Science Publisher |
Online ISSN 2212-389X |
- Author Guidelines
- Graphical Abstracts
- Fabricating and Stating False Information
- Research Misconduct
- Post Publication Discussions and Corrections
- Publishing Ethics and Rectitude
- Increase Visibility of Your Article
- Archiving Policies
- Peer Review Workflow
- Order Your Article Before Print
- Promote Your Article
- Manuscript Transfer Facility
- Editorial Policies
- Allegations from Whistleblowers
- Announcements
Related Articles
-
Patients with Polyvascular Disease: A Very High-risk Group
Current Vascular Pharmacology Inpatient Diabetes Management in Non-ICU Settings: Evidence and Strategies
Current Diabetes Reviews The Protective Role of Grape Seed in Obesity and Lipid Profile: An Updated Narrative Overview of Preclinical and Clinical Studies
Endocrine, Metabolic & Immune Disorders - Drug Targets Redox-Sensitive Smart Nanosystems for Drug and Gene Delivery
Current Organic Chemistry Peripheral Chemoreceptors and Sudden Infant Death Syndrome: A Wide Open Problem
Current Cardiology Reviews TrkB Receptor Agonist 7, 8 Dihydroxyflavone Triggers Profound Gender- Dependent Neuroprotection in Mice After Perinatal Hypoxia and Ischemia
CNS & Neurological Disorders - Drug Targets Basic and Clinical Aspects of Gene Therapy for Retinopathy Induced by Diabetes
Current Gene Therapy Thymoquinone Attenuates Retinal Expression of Mediators and Markers of Neurodegeneration in a Diabetic Animal Model
Current Molecular Pharmacology Outcome-Dependent Global Similarity Analysis of Imbalanced Core Signaling Pathways in Ischemic Mouse Hippocampus
CNS & Neurological Disorders - Drug Targets Transcriptional Control of Collagen I Gene Expression
Cardiovascular & Hematological Disorders-Drug Targets Natural Flavonoids as Potential Therapeutics in the Management of Diabetic Wound: A Review
Current Topics in Medicinal Chemistry Refined Echocardiographic Assessment and Contemporary Medical Treatment of Obstructive Hypertrophic Cardiomyopathy
Cardiovascular & Hematological Disorders-Drug Targets Applications of Fractal and Non-linear Time Series Analysis to the Study of Short-term Cardiovascular Control
Current Vascular Pharmacology Type 2 Diabetes Mellitus and the Elderly: An Update on Drugs Used to Treat Glycaemia
Current Vascular Pharmacology 2023 Challenges for the Management of Hypertension
Current Hypertension Reviews Traumatic Brain Injury and Blood-Brain Barrier Cross-Talk
CNS & Neurological Disorders - Drug Targets Synthetic Src-Kinase Domain Inhibitors and Their Structural Requirements
Anti-Cancer Agents in Medicinal Chemistry New Strategies in Drug Development Focusing on the Anti-Protease- Protease Balance in Alpha-1 Antitrypsin Deficiency
Anti-Inflammatory & Anti-Allergy Agents in Medicinal Chemistry Retracted: Junk Food Consumption, Perceptions and Associated Factors among the Private School Children
Current Nutrition & Food Science Sigma Receptor Activation Reduces Infarct Size at 24 Hours After Permanent Middle Cerebral Artery Occlusion in Rats
Current Neurovascular Research