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

Identyfikatory

DOI

10.24425/acs.2021.136878

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

active disturbance rejection; computed torque control; differential algebraic equations; parallel rehabilitation robot; real-time implementation; system identification

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2021
• Tom: Vol. 31, No. 1
• Strony: 5--27
• Opis fizyczny: Bibliogr. 54 poz., rys., tab., wykr., wzory

Twórcy

autor

Arceo Juan Carlos

• Université Polytechnique Hauts-de-France, LAMIH UMR CNRS 8201, F-59313 Valenciennes, France

autor

Alvarez Jorge

• Institute of Technology, 5 de Febrero 818 Sur, Ciudad Obregon, Sonora, Mexico

autor

Armenta Carlos

• Université Polytechnique Hauts-de-France, LAMIH UMR CNRS 8201, F-59313 Valenciennes, France

autor

Lauber Jimmy

• Université Polytechnique Hauts-de-France, LAMIH UMR CNRS 8201, F-59313 Valenciennes, France

autor

Cremoux Sylvian

• Centre de Recherche Cerveau et Cognition, CNRS UMR 5549, Université de Toulouse, Toulouse 31052, France

autor

Simoneau-Buessinger Emilie

• Université Polytechnique Hauts-de-France, LAMIH UMR CNRS 8201, F-59313 Valenciennes, France

autor

Bernal Miguel

• Institute of Technology, 5 de Febrero 818 Sur, Ciudad Obregon, Sonora, Mexico

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Uwagi

1. This work has been supported by the ECOS Nord SEP-CONACYT-ANUIES Project (France M17M08 / Mexico 291309). This research is sponsored by ELSAT 2020 of the Hauts-de-France Region, the European Community, the Regional Delegation for Research and Technology, the French Ministry of Higher Education and Research, and the French National Center for Scientific Research.

2. Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).