Intelligent Tuning of Augmented $L_{1}$ Adaptive Control for Cerebral Palsy Kids Rehabilitation

Walking ability can be lost due to several neurological diseases. In this paper, we are interested in the rehabilitation of pediatric patients. For this purpose, an extended L
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adaptive control has been proposed to control 2 DOF lower limbs exoskeletons used to rehabilitate kids suffering from Cerebral Palsy (CP). Two methods based on PID controllers have been combined with L
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adaptive control in order to ensure the limb movement along a predefined trajectory. Then, a comparison study has been established based on tracking errors. Moreover, to improve the robustness of these controllers against uncertainties, several tests with the variations of children masses and lengths have been carried out, with the presence of torque limits using fuzzy logic.