SYSTÈME DE COMMANDE D'EXOSQUELETTE À MEMBRE INFÉRIEUR HAPTIQUE POUR LA RÉÉDUCATION OU LA MARCHE, AVEC CONTRÔLE AMÉLIORÉ DE L'ÉQUILIBRE, INTERFACE HOMME-MACHINE
A haptic exoskeleton (1) coupled to the body of a patient (2) has actuator means (10) for actuating a number of joints (7, 8, 9)； bioelectric sensors (14) acquiring bioelectric signals (SEMG)； and a control system (75). The system envisages: an outer postural control loop (48), to output an automatic posture control vector (ẋsum), defining a postural task of the exoskeleton； a patient-control module (91), to output a vector of bioelectric angular velocities (θ̇p) based on the bioelectric signals (SEMG) to allow the patient to interact with said joints (7, 8, 9)； an inner joint-velocity control loop (49) to output a control signal (us) to be applied to the actuator means (10) to control a rotational movement of the joints (7, 8, 9), based on an input reference signal (θ̇ref), being a combination of contributions of the automatic posture control vector (ẋsum) and of the vector of bioelectric angular velocities (θ̇p). A control modulation module (78, 82, 84) modulates the contributions of the postural control loop, through the automatic posture control vector (ẋsum), and of the patient-control module, through the vector of bioelectric angular velocities (θ̇p), for generation of the reference signal (θref).
