- Tytuł:
- Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation
- Autorzy:
-
Arceo, Juan Carlos
Alvarez, Jorge
Armenta, Carlos
Lauber, Jimmy
Cremoux, Sylvian
Simoneau-Buessinger, Emilie
Bernal, Miguel - Powiązania:
- https://bibliotekanauki.pl/articles/1409032.pdf
- Data publikacji:
- 2021
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
active disturbance rejection
computed torque control
differential algebraic equations
parallel rehabilitation robot
real-time implementation
system identification - Opis:
- In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.
- Źródło:
-
Archives of Control Sciences; 2021, 31, 1; 5-27
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł