Abstract
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.
Original language | English |
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Journal | Archives of Control Sciences |
Volume | 31 |
Issue number | 1 |
Pages (from-to) | 5-27 |
Number of pages | 23 |
ISSN | 1230-2384 |
DOIs | |
Publication status | Published - 2021 |
Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2021. The Author(s).
Keywords
- Active disturbance rejection
- Computed torque control
- Differential algebraic equations
- Parallel rehabilitation robot
- Real-time implementation
- System identification