\(L_1\) Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ Rehabilitation

  • Boutheina MaalejEmail author
  • Ahmed Chemori
  • Nabil Derbel
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 270)


In this chapter, four adaptive controllers have been proposed to control a 2-DOF exoskeleton dedicated to kids’ rehabilitation. These control laws are implemented at the hip and the knee joints. In fact, tracking the gait scheme with an intense and a precise work may allow children to increase their brain plasticity. Through the proposed study, it is shown that the augmented \(L_1\) adaptive controller is robust regards to parametric variations. Besides, to validate this controller, different scenarios and simulations were carried out to prove its effectiveness.


Rehabilitation Cerebral palsy Exoskeletons Classical adaptive control \(L_1\) adaptive controller 



The present work is supported by (i) the “Association de Sauvegarde des Handicapés Moteurs - Sfax” (ASHMS), the (ii) Clinical Inverstigation Center (CIC) of the Hospitalo−University Center of Sfax (CHU) Tunisia, (iii) the Laboratory “Control & Energy Managements” (CEMLab) of the “National School of Engineering of Sfax”, University of Sfax, Tunisia, and (iv) the Digital Research Center of Sfax, Tunisia (CRNS).


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© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Boutheina Maalej
    • 1
    • 2
    Email author
  • Ahmed Chemori
    • 3
  • Nabil Derbel
    • 1
  1. 1.Laboratory of Control & Energy Management, ENISDigital Research Center of Sfax, University of SfaxSfaxTunisia
  2. 2.Clinical Investigation Center, University of GabesSfaxTunisia
  3. 3.LIRMMUniversity of Montpellier, CNRSMontpellierFrance

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