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In this paper we give a new control model based on the so calledcomputed-torque method for the control of a 2 degrees of freedom orthosis forthe rehabilitation of the lower limb, the AIRGAIT exoskeleton's leg orthosis.The actuation of the AIRGAIT is made through self-made pneumatic muscles. Forthis reason this work starts with the static and dynamic characterization ofour pneumatic muscles. The followed approach is based on the analyticaldescription of the system. For this, we describe the pneumatic musclesbehaviour with an easy-invertible polynomial fit function in order to model itsnon-linear trend. We give a geometrical model of the mechanical system tocompute the length between the attachments of the pneumatic muscles to thestructure for every angles assumed by the two joints. We evaluate throughNewton-Euler equation the couples at the joints for each values of the angles.At last we show some validation tests in order to characterize the functioningof the proposed control model on the actuation of the orthosis.

Computed-torque method for the control of a 2 DOF orthosis actuated  through pneumatic artificial muscles: a specific case for the rehabilitation  of the lower limb