Loqmane Bencharif

Development of a complete control system for a real exoskeleton, integrating multimodal sensors (IMU, EMG) and actuators, with a total migration to ROS2 for stable real-time execution. Design and implementation of an adaptive Fuzzy-PID controller, combined with different control strategies (position, torque, impedance, Energy Tank) to ensure passivity, stability, and compliant and safe human-robot interaction. Reconstruction and transformation of walking trajectories from classical methods (DTW, GMM, GMR, symmetry models) as well as advanced artificial intelligence techniques (HMM, Random Forest, symmetry-based learning models) to improve motion generation and system adaptability.

Conducting in-depth research on ankle exoskeletons to identify technological advancements and development trends over the years. Analysis, comparison, and evaluation of different exoskeleton technologies to select the most suitable solution for functional and ergonomic constraints. Design of an ankle exoskeleton using CATIA V5, based on the results of bibliographic and technical studies.