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Convergence and robustness of the Hopf oscillator applied to an ABLE exoskeleton: reachability analysis and experimentation
1 : Complexité, Innovation, Activités Motrices et Sportives
Université d'Orléans, Université Paris-Saclay, Université Paris-Saclay : EA4532, Université d'Orléans : EA4532, Université d'Orléans, Université Paris-Saclay
In this paper, we consider an industrial exoskeleton called ABLE, which we controlled using an
adaptive oscillator. In the context of periodic human movements around the elbow axis we show
that the exoskeleton anticipates smoothly the human movement, converges towards a limit cycle, and
is “robust” against non-deterministic bounded perturbations. In particular, the properties of stability
and robustness are formally proven, at the model level, using a recent development of the method of
“reachability analysis”. These properties are then confronted to preliminary experimental data.
