Design and Control of Wearable Ankle Robotic Device

Ali Zakaria Messaoui, Mohamed Alouane, Mohamed Guiatni, Omar Mechali, Sbargoud Fazia, Zerdani Serine, Belimene Elmokhtar

2023

Abstract

The primary objective of this paper is to develop an ankle wearable robotic device, which involves two primary tasks: design and control. The design task focused on creating a comfortable, lightweight, and secure ankle exoskeleton robot; this task was achieved using SOLIDWORKS and considering all essential factors. For the control aspect of the exoskeleton, an Improved Optimized Homogeneous Twisting Control (IOHTC) approach was proposed to design a robust angular position control system. To ensure the stability of the control system, a homogeneous-Lyapunov function was used. Simulation results based on real gait data demonstrated consistency with the theoretical foundation, and a comparative analysis based on various performance indices confirmed the effectiveness and superiority of the proposed control law. Finally, several simulations have been conducted on the designed model using simscape multibody link to validate it.

Paper Citation

in Harvard Style

Messaoui A., Alouane M., Guiatni M., Mechali O., Fazia S., Serine Z. and Elmokhtar B. (2023). Design and Control of Wearable Ankle Robotic Device. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 554-561. DOI: 10.5220/0012157200003543

in Bibtex Style

@conference{icinco23,
author={Ali Zakaria Messaoui and Mohamed Alouane and Mohamed Guiatni and Omar Mechali and Sbargoud Fazia and Zerdani Serine and Belimene Elmokhtar},
title={Design and Control of Wearable Ankle Robotic Device},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={554-561},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012157200003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Design and Control of Wearable Ankle Robotic Device
SN - 978-989-758-670-5
AU - Messaoui A.
AU - Alouane M.
AU - Guiatni M.
AU - Mechali O.
AU - Fazia S.
AU - Serine Z.
AU - Elmokhtar B.
PY - 2023
SP - 554
EP - 561
DO - 10.5220/0012157200003543
PB - SciTePress