Human-based Lower Limb Movement Assistance and Rehabilitation through an Actuated Orthosis

Abstract

In this paper, an overview of the project EICOSI (Exoskeleton Intelligently COmmunicating and Sensitive to Intention) conducted at the LISSI/UPEC Lab will be presented. This work aims to control a knee joint actuated orthosis while tracking a desired trajectory or following the wearer’s intention. The proposed control strategies ensure satisfactory performances in terms of trajectory tracking, intention detection and torque generation during rehabilitation tasks and assistive movements of the wearer’s lower limbs.