The motoBOTTE is a robot designed for assistive rehabilitation. The identification of a mathematical model for the system is shown; then we design and implement a nonlinear control law for tracking a reference signal. The nonlinear controller design is achieved by combining an exact convex representation with the direct method of Lyapunov. Results are given in terms of linear matrix inequalities (LMI); simulation and real-time results are shown as well.
|Konference||International Conference on Neurorehabilitation|
|Periode||16/10/2018 → 20/10/2018|
|Navn||Biosystems and Biorobotics|