DSME Colloquium: Florent Di Meglio on the control of the exoskeleton Atalante
Tuesday, 14th of March 2023
On Tuesday, 14 March 2023, at 10:00, we welcome Florent Di Meglio, associate professor in the Centre Automatique et Systèmes at MINES ParisTech, at the DSME Colloquium where he will give a talk on "Control of the exoskeleton Atalante: compensating flexibilities and enabling rehabilitation ", followed by an Q&A session. Please find the abstract of the talk and the biography of the speaker below.
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Control of the exoskeleton Atalante: compensating flexibilities and enabling rehabilitation
I will present recent advances in the control of the self-balanced lower-limb exoskeleton Atalante, developed by the company Wandercraft. This robotic device is currently used to enable paraplegic patients to reproduce walking patterns without the use of balancing devices such as crutches. Due to weaknesses in the robot structure, unmeasured mechanical deformations negatively impact the performance of existing controllers. I will present an approach to estimate these flexibilities using inertial sensors and compensate their effects through feedback control. In a second part, I will describe how the control architecture of the robot can be modified to safely allow patients to participate in the motion of the exoskeleton through their efforts, in view of using the device for walking rehabilitation. For this, we constrain the freedom to one degree of freedom and perform online re-planning of the center of mass trajectories.
Florent Di Meglio is Associate Professor at the Centre Automatique et Systèmes (CAS), Mines Paris, PSL University. His research focuses on control of Partial Differential Equations with applications to Oil & Gas and geothermal drilling; bipedal robotics and nonlinear identification and observer design. He obtained the Habilitation à Diriger des Recherches from UPMC in 2022.