Nested saturation based control of an actuated knee joint orthosis

Wearable robots have opened a new horizon for assistance and rehabilitation of dependent/elderly persons. The present study deals with the control of an actuated lower limb orthosis at the knee joint level. The dynamics of the shank–foot–orthosis system are expressed through a nonlinear second order model taking into account viscous, inertial and gravitational properties. Shank–foot–orthosis system parameters are identified experimentally. Since the underlying dynamic model is nonlinear, a robust control strategy is needed to guarantee an accurate and precise movement generation. The proposed control strategy ensures, at the same time, the stability of the closed-loop system. A bounded control torque is applied to guarantee the asymptotic stability of the shank–foot–orthosis. The generated control respects the physical constraints imposed by the system. The effectiveness of the proposed control strategy is shown in real-time in terms of stability, position tracking performances and robustness with respect to identification errors and external disturbances.