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

Cable-driven knee rehabilitation orthosis: design, control, and experimental validation Gutierrez, Nery U.O. da Costa Peixoto, Márcia Luciana Guerra, Thierrie Marie Dequidt, Antoine Puig Cayuela, Vicenç Paganelli, Sebastien Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control Àrees temàtiques de la UPC::Informàtica::Automàtica i control Cable-driven orthosis Rehabilitation Takagi-Sugeno models Linear matrix Inequalities 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) 2025 Article Gutierrez, N.U.0. [et al.]. Cable-driven knee rehabilitation orthosis: design, control, and experimental validation. «IFAC-PapersOnLine», 2025, vol. 59, núm. 26, p. 335-340. 2405-8963 https://hdl.handle.net/2117/460158 10.1016/j.ifacol.2025.12.057 eng https://www.sciencedirect.com/science/article/pii/S2405896325027338 http://creativecommons.org/licenses/by-nc-nd/4.0/ Open Access Attribution-NonCommercial-NoDerivatives 4.0 International 6 p. application/pdf Elsevier