A system approach for control development of lower-limbs training machines

Abstract This paper presents the approach undertaken for the specification and design of the control system of a machine for training and rehabilitation of lower limbs. The resulting hybrid and hierarchical control system interprets the training specifications provided by a physiotherapist for a particular user to execute the corresponding sequence of switching (position, velocity and force) control laws. A generic model, based on the use of an object extension of Statecharts, is proposed for the sequential part of the controller. The design and synthesis of the switching control laws are illustrated for the case of the machine Multi-Iso. Some illustrative training results are also discussed.