The integration of robotic systems into physical medicine offers significant advantages over traditional methods, such as improved movement repeatability, precise assistance, and quantifiable performance measurements. In this context, an innovative exoskeleton for lower limb rehabilitation, named KINECAB, has been developed. Unlike traditional rigid devices, KINECAB uses a lightweight cable-driven structure capable of performing a wide variety of rehabilitation exercises in different configurations (standing or lying down), tailored to the user’s specific needs.
The primary objective of this project is to design a robust control system for this cable-driven exoskeleton to enhance the lower limb rehabilitation process. To achieve this goal, a kinematic and dynamic modeling of the system was carried out as an intermediate step, allowing a better understanding of the robot’s characteristics. Then, a nonlinear sliding mode control approach was developed, ensuring system robustness and optimal precision in tracking the exercises prescribed by the therapist.
The techniques and algorithms developed were validated through simulations and real-time execution, demonstrating satisfactory performance in tracking movements and maintaining positive tension in the cables during the exercises. The work carried out in this thesis contributes to the improvement of lower limb rehabilitation techniques by integrating innovative and efficient robotic solutions.
| Date | 16 Dec 2024 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Maarouf Saad (Supervisor) & Yassine Kali (Co-supervisor) |
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Arrami, C. (Author),
Saad (Supervisor) & Kali (Co-supervisor),
16 Dec 2024Student thesis: Master's thesis › Master in Engineering: Electrical Engineering