Neural Networks Controler of a Lower Limbs Robotic Rehabilitation Chair

M. A. Mamou; N. Saadia

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Paper

Neural Networks Controler of a Lower Limbs Robotic Rehabilitation Chair

Topics: Biomechanical Devices

In Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, 65-71, 2014 , ESEO, Angers, Loire Valley, France

Authors: M. A. Mamou and N. Saadia

Affiliation: USTHB University, Algeria

ISBN: 978-989-758-013-0

ISSN: 2184-4305

Keyword(s): Feed Forward Neural Network, PID Controler, Kinematic Model, Path Tracking, Rehabilitation Robot, Lower Limbs.

Related Ontology Subjects/Areas/Topics: Biomechanical Devices ; Biomedical Engineering ; Biomedical Instruments and Devices

Abstract: In this paper, we propose a new control law using a kinematic model based on a Feed forward neural network (FFNN). This controller is designed for the control of a robotic rehabilitation chair of the lower limbs designed and created in the LRPE laboratory, with high accuracy. The results of the validation tests, show that the lower limb joints trajectories of the proposed control law are similar to the physiological joints trajectories of a patient. This demonstrates that the proposed control law provides a high performance and a fast convergence with extremely low error.

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Paper citation in several formats:

A. Mamou, M. and Saadia, N. (2014). Neural Networks Controler of a Lower Limbs Robotic Rehabilitation Chair.In Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2014) ISBN 978-989-758-013-0, ISSN 2184-4305, pages 65-71. DOI: 10.5220/0004700700650071

@conference{biodevices14,
author={M. A. Mamou. and N. Saadia.},
title={Neural Networks Controler of a Lower Limbs Robotic Rehabilitation Chair},
booktitle={Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2014)},
year={2014},
pages={65-71},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004700700650071},
isbn={978-989-758-013-0},
}

TY - CONF

JO - Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2014)
TI - Neural Networks Controler of a Lower Limbs Robotic Rehabilitation Chair
SN - 978-989-758-013-0
AU - A. Mamou, M.
AU - Saadia, N.
PY - 2014
SP - 65
EP - 71
DO - 10.5220/0004700700650071