Publicación: Control por retroalimentación dinámica y observadores de estado para un dispositivo de rehabilitación de rodilla usando actuación flexible
Portada
Citas bibliográficas
Gestores Bibliográficos
Indexadores
Código QR
Autor corporativo
Recolector de datos
Otros/Desconocido
Director audiovisual
Editor/Compilador
Editores
Fecha
Cita bibliográfica
Título de serie/ reporte/ volumen/ colección
Es Parte de
Resumen en español
Rehabilitation devices with soft components increasingly attract more attention due to their characteristics in human-robot interaction. However, these types of systems have a certain level of complexity when analyzing and controlling. We have designed a 5-link knee rehabilitation device operated on two of the five joints using elastic action to help the movement of the knee. In this work, we simplify the modeling of the rehabilitation device in a smooth acting system of 1 degree of freedom. Subsequently, we present the design and implementation of a dynamic feedback controller to track a desired reference. For the proposed controller, we implemented a state observer to estimate the rigidity of the system and some of the states. As a result, we present the design and implementation of the controller with a status observer, which follows a desired angular path with a desired stiffness. We demonstrate in simulation, through tests aimed at carrying out some rehabilitation routines, to validate the effectiveness and stability of the controlled system, which responds effectively to disturbances.
Resumen en inglés
Rehabilitation devices with soft components increasingly attract more attention due to their characteristics in human-robot interaction. However, these types of systems have a certain level of complexity when analyzing and controlling. We have designed a 5-link knee rehabilitation device operated on two of the five joints using elastic action to help the movement of the knee. In this work, we simplify the modeling of the rehabilitation device in a smooth acting system of 1 degree of freedom. Subsequently, we present the design and implementation of a dynamic feedback controller to track a desired reference. For the proposed controller, we implemented a state observer to estimate the rigidity of the system and some of the states. As a result, we present the design and implementation of the controller with a status observer, which follows a desired angular path with a desired stiffness. We demonstrate in simulation, through tests aimed at carrying out some rehabilitation routines, to validate the effectiveness and stability of the controlled system, which responds effectively to disturbances.