Nabil Derbel (Keynote Speaker for SAC)

Sliding mode control of robotic systems for rehabilitation

The basic idea consists to control two degrees of freedom exoskeletons, at the hip and knee
joint levels, as well as the variation of kids parameters. These controllers are developed in order to make the
exoskeletons track the desired trajectory so to allow children to increase their brain plasticity by an intense and
precise work on the gait scheme. The proposed controller is based on the sliding mode approach. Adding an
integral action to the control, performances can be improved. Then, adaptive approaches estimating parameters
online presents the best performances.