Design of a Rehabilitation Exoskeleton with Impedance Control: First Experiments

Gaëtan Courtois, Jason Chevrie, Antoine Dequidt, Antoine Dequidt, Xavier Bonnet, Philippe Pudlo

2021

Abstract

In this paper, we disclose the design strategy, control design and preliminary works leading to the development of a post stroke gait rehabilitation exoskeleton. The strategy is established based on the conventional gait rehabilitation currently used in rehabilitation centers and defines the exoskeleton as an interface between the therapist and the patient. The final purpose of this interface is to complete the conventional rehabilitation by intensifying the work of the patient while relieving the physical burden on the therapist. As the conventional rehabilitation is based on successive exercises the control is designed to have several operating modes triggered depending on the currently processing exercise. A test bench was realised to evaluate quantitatively as well as qualitatively these operating modes. Preliminary results of quantitative experiments on the transparent operation mode are then presented. These results validate the control design and comfort us on our development method.

Paper Citation

in Harvard Style

Courtois G., Chevrie J., Dequidt A., Bonnet X. and Pudlo P. (2021). Design of a Rehabilitation Exoskeleton with Impedance Control: First Experiments. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 469-476. DOI: 10.5220/0010580004690476

in Bibtex Style

@conference{icinco21,
author={Gaëtan Courtois and Jason Chevrie and Antoine Dequidt and Xavier Bonnet and Philippe Pudlo},
title={Design of a Rehabilitation Exoskeleton with Impedance Control: First Experiments},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={469-476},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010580004690476},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Design of a Rehabilitation Exoskeleton with Impedance Control: First Experiments
SN - 978-989-758-522-7
AU - Courtois G.
AU - Chevrie J.
AU - Dequidt A.
AU - Bonnet X.
AU - Pudlo P.
PY - 2021
SP - 469
EP - 476
DO - 10.5220/0010580004690476