Thieffry, Maxime (UPHF), Dequidt, Antoine (Université de Valenciennes et du Hainaut-Cambrésis), VERMEIREN, LAURENT (Université de Valenciennes et du Hainaut-Cambrésis), Pudlo, Philippe (Université de Valenciennes et du Hainaut Cambrésis)

Stability Analysis of Variable Impedance Control for Rehabilitation Exoskeletons: Quasi-LPV Models and LMI Conditions

Scheduled for presentation during the Regular Session "Robot Hand Control" (WeAT5), Wednesday, July 16, 2025, 11:20−11:40, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Exoskeletons are set to play an important role in the future of rehabilitation processes, and safe interactions are therefore seen as a fundamental prerequisite. This article contributes by presenting a novel assistance modulation strategy to best meet the patients needs as well as a dedicated stability analysis to ensure operational safety. Using exact nonlinear model transformation, a polytopic quasi-LPV model of the closed-loop dynamics allows us to present stability conditions, written as LMI constraints. In addition, the impact of noise and model uncertainties is considered in a robustness analysis that paves the way for a secure rehabilitation process.