Publications by authors named "Antoine Dequidt"
Gait-Oriented Post-Stroke Rehabilitation Tasks Online Trajectory Generation for 1-DOF Hip Lower-Limb Exoskeleton.
IEEE Int Conf Rehabil Robot
September 2023
Article Synopsis
- Lower limb exoskeletons are gaining attention for post-stroke rehabilitation, often used alongside traditional physiotherapy during the subacute phase for gait training.
- The main challenge in gait training is generating reference trajectories, which typically mimic the average walking patterns of healthy individuals.
- This paper presents an online trajectory generation (OTG) algorithm that replicates the movement paths of therapists during rehabilitation tasks, with experimental results demonstrating its effectiveness at a 500µs cycle time.
This work presents the control of a two-degree of freedom parallel robot manipulator. A quasi-LPV approach, through the so-called TS fuzzy model and LMI constraints problems is used. Moreover, in this context a way to derive interesting control laws is to keep the descriptor form of the mechanical system.
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