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

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.

• Autores: Guatibonza Artunduaga, Andres Felipe; Solaque Guzmán, Leonardo Enrique; Velasco Vivas, Alexandra
• Tipo de recurso: Article of journal
• Fecha de publicación: 2020
• Institución: Universidad EIA .
• Repositorio: Repositorio EIA .
• Idioma: eng
• OAI Identifier: oai:repository.eia.edu.co:11190/5104
• Acceso en línea: https://repository.eia.edu.co/handle/11190/5104; https://doi.org/10.24050/reia.v17i33.1363
• Palabra clave: Assistive Robotics; Rehabilitation Robotics; Kinematics Modeling; Dynamics Modeling; Assistive Robotics; Rehabilitation Robotics; Kinematics Modeling; Dynamics Modeling.
• Rights: openAccess
• License: Revista EIA - 2020