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Control por retroalimentación dinámica y observadores de estado para un dispositivo de rehabilitación de rodilla usando actuación flexible

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dc.contributor.authorGuatibonza Artunduaga, Andres Felipespa
dc.contributor.authorSolaque Guzmán, Leonardo Enriquespa
dc.contributor.authorVelasco Vivas, Alexandraspa
dc.date.accessioned2020-02-03 00:00:00
dc.date.accessioned2022-06-17T20:20:39Z
dc.date.available2020-02-03 00:00:00
dc.date.available2022-06-17T20:20:39Z
dc.date.issued2020-02-03
dc.description.abstractRehabilitation 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.spa
dc.description.abstractRehabilitation 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.eng
dc.format.mimetypeapplication/pdfeng
dc.identifier.doi10.24050/reia.v17i33.1363
dc.identifier.eissn2463-0950
dc.identifier.issn1794-1237
dc.identifier.urihttps://repository.eia.edu.co/handle/11190/5104
dc.identifier.urlhttps://doi.org/10.24050/reia.v17i33.1363
dc.language.isoengeng
dc.publisherFondo Editorial EIA - Universidad EIAspa
dc.relation.bitstreamhttps://revistas.eia.edu.co/index.php/reveia/article/download/1363/1299
dc.relation.citationeditionNúm. 33 , Año 2020spa
dc.relation.citationendpage10
dc.relation.citationissue33spa
dc.relation.citationstartpage33019 pp. 1
dc.relation.citationvolume17spa
dc.relation.ispartofjournalRevista EIAspa
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dc.rightsRevista EIA - 2020eng
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesseng
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2eng
dc.rights.creativecommonsEsta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-SinDerivadas 4.0.eng
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0eng
dc.sourcehttps://revistas.eia.edu.co/index.php/reveia/article/view/1363eng
dc.subjectAssistive Roboticseng
dc.subjectRehabilitation Roboticseng
dc.subjectKinematics Modelingeng
dc.subjectDynamics Modelingeng
dc.subjectAssistive Roboticsspa
dc.subjectRehabilitation Roboticsspa
dc.subjectKinematics Modelingspa
dc.subjectDynamics Modeling.spa
dc.titleControl por retroalimentación dinámica y observadores de estado para un dispositivo de rehabilitación de rodilla usando actuación flexiblespa
dc.title.translatedDynamic feedback control and state observers for a knee rehabilitation device using soft actioneng
dc.typeArtículo de revistaspa
dc.typeJournal articleeng
dc.type.coarhttp://purl.org/coar/resource_type/c_6501eng
dc.type.coarhttp://purl.org/coar/resource_type/c_6501eng
dc.type.coarversionhttp://purl.org/coar/version/c_970fb48d4fbd8a85eng
dc.type.contentTexteng
dc.type.driverinfo:eu-repo/semantics/articleeng
dc.type.redcolhttp://purl.org/redcol/resource_type/ARTREFeng
dc.type.versioninfo:eu-repo/semantics/publishedVersioneng
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