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Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation

Arceo Juan Carlos, Alvarez Jorge, Armenta Carlos, Lauber Jimmy, Cremoux Sylvian, Simoneau-Buessinger Emilie, Bernal Miguel

Archives of Control Sciences

2021

Vol. 31, No. 1

5--27

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.