dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.contributor.author
Gutierrez, Nery U.O.
dc.contributor.author
da Costa Peixoto, Márcia Luciana
dc.contributor.author
Guerra, Thierrie Marie
dc.contributor.author
Dequidt, Antoine
dc.contributor.author
Puig Cayuela, Vicenç
dc.contributor.author
Paganelli, Sebastien
dc.identifier
Gutierrez, N.U.0. [et al.]. Cable-driven knee rehabilitation orthosis: design, control, and experimental validation. «IFAC-PapersOnLine», 2025, vol. 59, núm. 26, p. 335-340.
dc.identifier
https://hdl.handle.net/2117/460158
dc.identifier
10.1016/j.ifacol.2025.12.057
dc.description.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.
dc.description.abstract
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.
dc.description.abstract
Peer Reviewed
dc.description.abstract
Postprint (published version)
dc.format
application/pdf
dc.relation
https://www.sciencedirect.com/science/article/pii/S2405896325027338
dc.rights
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights
Attribution-NonCommercial-NoDerivatives 4.0 International
dc.subject
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject
Cable-driven orthosis
dc.subject
Rehabilitation
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Takagi-Sugeno models
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Linear matrix Inequalities
dc.title
Cable-driven knee rehabilitation orthosis: design, control, and experimental validation
