Authors:
Ali Zakaria Messaoui
1
;
Mohamed Alouane
2
;
Mohamed Guiatni
2
;
Omar Mechali
3
;
Sbargoud Fazia
2
;
Zerdani Serine
2
and
Belimene Elmokhtar
2
Affiliations:
1
Ecole Militaire Polytechnique
;
2
Complex Systems Control and Simulators Laboratory, Ecole Militaire Polytechnique, Bordj El Bahri, Algiers, Algeria
;
3
Ecole Supérieur Ali Chabati, Reghaia, Algiers, Algeria
Keyword(s):
Exoskeleton Robot, Gait Assistance, Ankle Wearable Device Design, Finite-Time Stability, Homogeneous Sliding Mode Control.
Abstract:
The primary objective of this paper is to develop an ankle wearable robotic device, which involves two primary tasks: design and control. The design task focused on creating a comfortable, lightweight, and secure ankle exoskeleton robot; this task was achieved using SOLIDWORKS and considering all essential factors. For the control aspect of the exoskeleton, an Improved Optimized Homogeneous Twisting Control (IOHTC) approach was proposed to design a robust angular position control system. To ensure the stability of the control system, a homogeneous-Lyapunov function was used. Simulation results based on real gait data demonstrated consistency with the theoretical foundation, and a comparative analysis based on various performance indices confirmed the effectiveness and superiority of the proposed control law. Finally, several simulations have been conducted on the designed model using simscape multibody link to validate it.