Control por retroalimentación dinámica y observadores de estado para un dispositivo de rehabilitación de rodilla usando actuación flexible
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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... Ver más
1794-1237
2463-0950
17
2020-02-03
33019 pp. 1
10
Revista EIA - 2020
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-SinDerivadas 4.0.
info:eu-repo/semantics/openAccess
http://purl.org/coar/access_right/c_abf2
