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A sensitivity-based approach for computing over-approximations of reachablesets, in the presence of constant parameter uncertainties and a single initialstate, is used to analyze a three-link planar robot modeling a Powered LowerLimb Orthosis and its user. Given the nature of the mappings relating the stateand parameters of the system with the inputs, and outputs describing thetrajectories of its Center of Mass, reachable sets for their respective spacescan be obtained relying on the sensitivities of the nonlinear closed-loopdynamics in the state space. These over-approximations are used to evaluate theworst-case performances of a finite time horizon linear-quadratic regulator(LQR) for controlling the ascending phase of the Sit-To-Stand movement.

Reachability Analysis for Robustness Evaluation of the Sit-To-Stand Movement for Powered Lower Limb Orthoses