Markovian theory applied for the development of control strategies in rehabilitation robotics

Markovian theory found its application in plenty of areas where control strategies are taken advantage of. However in rehabilitation robotics, which are safety critical applications, such strategies are not a common practice. This paper shows the potential of Markovian theory applied in rehabilitation robotics and proposes two different approaches for a development of such type of control strategies. This work proposes a variable control strategy driven by a Markovian decision process of which one contains off-line calculated gains using linear matrix Inequalities techniques for computation and a recursive on-line controller based on robust linear quadratic regulators.