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This paper deals with the control of an active ankle foot orthosis (AAFO) to assist the gait of paretic patients. The AAFO system is driven by both, the residual human torque delivered by the muscles spanning the ankle joint and the AAFO's actuator's torque. A projection-based model reference adaptive control is proposed to assist dorsiflexion and plantar-flexion of the ankle joint during daily living...
This paper presents a new human-exoskeleton interaction approach to provide torque assistance of the lower limb movements upon wearer's intention. The exoskeleton interacts with the wearer; the shank-foot orthosis system behaves as a second order dynamic system with gravity and elastic torque balance. The intention of the wearer is estimated by using a realistic musculoskeletal model of the muscles...
The paper concerns the control of a lower limb orthosis acting on the knee joint level. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. A model reference adaptive control law is developed and applied to the orthosis in order to make the system (shank-orthosis) track a desired trajectory predefined by a rehabilitation...
Wearable robots have defined a new horizon for elderly and disabled people, to regain control of their limbs, as well as for healthy people, to increase their abilities of hard missions execution. The present paper deals with the control of a lower limb orthosis applied at the knee joint level for rehabilitation purposes. A bounded control torque is developed in order to guarantee the asymptotic stability...
This paper presents an overview of some existing techniques of Quality of Service QoS and Quality of Experience QoE. QoS stands for the quality of the network in terms of transporting data with a minimum of delay and packet loss and a maximum of bandwidth. The extremum values depend surely of the provided service. QoE defines the quality perceived by the user and is assessed at the terminal level...
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