Formal specifications of sequential control for training machines for the lower limbs
Janan Zaytoon, Said Moughamir, Noureddine Manamanni, L. Afflal, L. Angelloz · 2005
This paper presents a generic formal model for the specification and design of the sequential control for lower-limbs training machines. An object extension or Statecharts is used as a modeling formalism. The resulting hybrid and hierarchical control system interprets the required training specifications for a particular user to execute the corresponding sequence of switching (position, speed and force) control laws.