Robust Control Applied to Hybrid Strategies for Lower Limb Exoskeletons

• Grant number: 25/07207-7
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: September 01, 2025
• End date: August 31, 2026
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Marcos Aranon da Costa Alves
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 24/01120-4 - Assistive Technology Center for Daily Life Activities, AP.CCD

Abstract

This research project proposes to develop and evaluate robust hybrid strategies involving the combination of functional electrical stimulation (FES) and exoskeletons for robotic walking rehabilitation. Such strategies should consider variations in user parameters, combined dynamics of different actuators (actuation redundancy), electromechanical delays and muscle fatigue. The goal is to develop solutions aiming at a more efficient motor rehabilitation, regulating the levels of FES application and robot assistance, in order to ensure that fatigue is minimized throughout the session and that the combined use of FES and exoskeleton is optimized. Specifically, we intend to develop robust H-infinity Nonlinear controllers considering Quasi-LPV (Linear with Variable Parameters) Control. The controllers will be used in conjunction with gait phase identification and muscle fatigue estimation systems developed in previous projects, and the variable impedance control of the exoskeleton to support walking and promote motor rehabilitation, considering treadmill and overground walking. The controllers will initially be evaluated with healthy volunteers.