| Titre : | Fractional-order control applied to functional rehabilitation systems using exoskeletons |
| Auteurs : | Yasmine Bersali, Auteur ; Lyna Bouchama, Auteur ; Djamel Boukhetala, Directeur de thèse |
| Type de document : | document électronique |
| Editeur : | [S.l.] : [s.n.], 2026 |
| Format : | 1 fichier PDF (6.4 Mo) / ill. |
| Note générale : |
Mode d'accès : accès au texte intégral par intranet.
Mémoire de Projet de Fin d'Études : Automatique : Alger, École Nationale Polytechnique : 2026 Appendis p. 117-120 .- Bibliogr. p. 121-124 |
| Langues : | Anglais |
| Index. décimale : | PA00426 |
| Tags : | Fractional-order calculus FOPD controller FSMC controller Impedance control Ex-oskeleton |
| Résumé : |
Hemiparesis, often caused by a stroke, results in a partial loss of voluntary movement on one side of the body. While physical therapy is essential for motor recovery, conventional manual sessions are typically long, repetitive, and costly. Robotics offers a powerful alternative to intensify reha-bilitation while reducing costs. However, incorporating the patient into the control loop introduces significant complexity, making the control of the coupled human-robot system the primary challenge in exoskeleton design. Advanced control strategies, particularly fractional-order control approaches, offer promising solutions for improving the performance and robustness of rehabilitation exoskeletons.
In this context, this work focuses on the modeling and control of a given upper-limb rehabilitation exoskeleton. Several control strategies are investigated, including a Fractional oportional-Derivative (FOPD) controller, a Fractional Sliding Mode Controller (FSMC), and an impedance control scheme designed to regulate the interaction between the patient and the robotic device. The proposed con-trollers are developed and evaluated through simulation in order to assess their tracking accuracy, robustness, and ability to ensure safe and effective human–robot interaction. |
Exemplaires (1)
| Code-barres | Cote | Support | Localisation | Section | Disponibilité | Spécialité | Etat_Exemplaire | ||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| EP01053 | PA00426 | Ressources électroniques | Bibliothèque centrale | Projet Fin d'Etudes | Disponible | Automatique | Téléchargeable |
