Cable-driven knee rehabilitation orthosis: design, control, and experimental validation

Abstract

This paper introduces a cable-driven knee orthosis designed for anatomical adaptability, eliminating the need for mechanical reconfiguration. A Takagi-Sugeno (T-S) fuzzy model is employed to represent the system’s nonlinear dynamics, and a fuzzy Proportional-Integral (PI) controller with anti-windup compensation is synthesized via Linear Matrix Inequality (LMI)-based conditions to ensure local stability under actuator saturation. Experimental validation in a prototype demonstrates effective trajectory tracking during flexion-extension cycles, highlighting the effectiveness of the proposed approach.

r at risk of disability to achieve and maintain optimal ⋆ This work was sponsored in part by ANR (National Re- search Agency), grant Number ANR-23-CPJ1-0116-01 (AAP Chaire HUMA2IN), in part by the National Center for Scientific Research (CNRS). This work has also been supported in part by the RITMEA research program funded by the European Region.

Peer Reviewed

Postprint (published version)