2026-04-17T06:27:15Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/4601582026-04-08T10:11:44Zcom_2072_1033col_2072_452950

00925njm 22002777a 4500 dc Gutierrez, Nery U.O. author da Costa Peixoto, Márcia Luciana author Guerra, Thierrie Marie author Dequidt, Antoine author Puig Cayuela, Vicenç author Paganelli, Sebastien author 2025 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. 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. Peer Reviewed Postprint (published version) Àrees temàtiques de la UPC::Informàtica::Automàtica i control Cable-driven orthosis Rehabilitation Takagi-Sugeno models Linear matrix Inequalities Cable-driven knee rehabilitation orthosis: design, control, and experimental validation