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In this paper, we present a robust controller of a new knee joint orthosis. This orthosis is intended to help or to restore lower limb movements of people with reduced mobility. Dynamic modeling and parametric identification of the knee joint-orthosis system are presented. Due its robustness, a High Order Sliding Mode Controller (HOSMC) is used to control(More)
Sitting down and standing up from a chair are pre-requisite activities for any upward moving activities such as standing, walking, climbing stairs, etc. They are performed many times in a single day by elderly and dependent people with the help of external aids. In this context, we present a prototype of wearable orthosis device designed to help and assist(More)
This paper presents a robust adaptive control of an actuated orthosis intended to assist the lower limb movements of dependent persons. The proposed controller, based on a MultiLayer Perception Neural Network (MLPNN) and considered as a black-box, does not require the dynamic model of lower limbs/orthosis. A neural identification is used to extract the(More)
  • Saber Mefoued
  • 2013
In this paper, we present an actuated orthosis aimed to assist the subject's knee joint movements through wearer's intention. The shank-foot orthosis system is considered as a black box and is controlled using a Multi-Layers Perceptron Neural Network (MLPNN) controller. This controller avoids the modeling of the “wearer lower limb-orthosis”(More)
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