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Développement et commande T-S d'une machine de rééducation des membres inférieurs en chaîne musculaire fermée

Abstract : This study was supported by the “Région champagne Ardenne” within the framework of the CPER “Sys-Rééduc” project which aims to design and control a new lower limb rehabilitation device. In the first chapter, a brief state of the art of rehabilitation techniques is done and the interest of developing a closed muscular chain (CMC) device is pointed out. Indeed, CMC rehabilitation techniques have interesting skills for the recovery of motor functions and muscle strengthening of the lower limbs as well as ensuring the dynamic joint equilibrium. Then, in the second chapter, the kinematical concept of the new rehabilitation device in CMC and its control structure is proposed. The third chapter deals with the continues level of the control structure. Its aim is to ensure the stability and the trajectory tracking of the mechanical system whatever the patient's effect to the machine is. Thus, a Takagi-Sugeno model based tracking control law design is proposed for a class of nonlinear descriptors. The stability conditions are written into LMIs based on the second Lyapunov method. The fourth chapter deals with the proposed trajectory generator allowing the voluntary control of the system by the patient. The proposed control structure is then validated in simulation on the new Sys-Rééduc concept and, since it is not available for a real time implementation yet, an experimental validation is proposed on an open muscular chain rehabilitation device available at the CReSTIC.
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Contributor : Kevin Guelton <>
Submitted on : Wednesday, December 10, 2008 - 6:02:14 PM
Last modification on : Friday, May 17, 2019 - 11:38:32 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 4:01:30 PM


  • HAL Id : tel-00346008, version 1



Lynda Seddiki. Développement et commande T-S d'une machine de rééducation des membres inférieurs en chaîne musculaire fermée. Automatique / Robotique. Université de Reims - Champagne Ardenne, 2008. Français. ⟨tel-00346008⟩



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