Modeling and Control of Rehabilitation Robotic Device: motoBOTTE

Juan Carlos Arceo; Jimmy Lauber; Lucien Robinault; Sebastien Paganelli; Mads Jochumsen; Imran Khan Niazi; Emilie Simoneau; Sylvain Cremoux

doi:10.1007/978-3-030-01845-0_110

Modeling and Control of Rehabilitation Robotic Device: motoBOTTE

Juan Carlos Arceo, Jimmy Lauber^*, Lucien Robinault, Sebastien Paganelli, Mads Jochumsen, Imran Khan Niazi, Emilie Simoneau, Sylvain Cremoux

^*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceeding › Book chapter › Research › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	ICNR 2018 : Converging Clinical and Engineering Research on Neurorehabilitation III
Number of pages	5
Publisher	Springer
Publication date	2019
Pages	546-550
ISBN (Print)	978-3-030-01844-3
ISBN (Electronic)	978-3-030-01845-0
DOIs	https://doi.org/10.1007/978-3-030-01845-0_110
Publication status	Published - 2019
Event	International Conference on Neurorehabilitation - Pisa, Italy Duration: 16 Oct 2018 → 20 Oct 2018 http://www.icnr2018.org

Conference

Conference	International Conference on Neurorehabilitation
Country/Territory	Italy
City	Pisa
Period	16/10/2018 → 20/10/2018
Internet address	http://www.icnr2018.org

Series	Biosystems and Biorobotics
Volume	21
ISSN	2195-3562

Bibliographical note

Funding Information:
This work was supported by the University of Valenciennes.

Publisher Copyright:
© Springer Nature Switzerland AG 2019.

Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.

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10.1007/978-3-030-01845-0_110

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Cite this

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title = "Modeling and Control of Rehabilitation Robotic Device: motoBOTTE",

abstract = "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.",

author = "Arceo, {Juan Carlos} and Jimmy Lauber and Lucien Robinault and Sebastien Paganelli and Mads Jochumsen and Niazi, {Imran Khan} and Emilie Simoneau and Sylvain Cremoux",

note = "Funding Information: This work was supported by the University of Valenciennes. Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.; International Conference on Neurorehabilitation, ICNR ; Conference date: 16-10-2018 Through 20-10-2018",

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Arceo, JC, Lauber, J, Robinault, L, Paganelli, S, Jochumsen, M , Niazi, IK, Simoneau, E & Cremoux, S 2019, Modeling and Control of Rehabilitation Robotic Device: motoBOTTE. in ICNR 2018: Converging Clinical and Engineering Research on Neurorehabilitation III. Springer, Biosystems and Biorobotics, vol. 21, pp. 546-550, International Conference on Neurorehabilitation, Pisa, Italy, 16/10/2018. https://doi.org/10.1007/978-3-030-01845-0_110

Modeling and Control of Rehabilitation Robotic Device: motoBOTTE. / Arceo, Juan Carlos; Lauber, Jimmy; Robinault, Lucien et al.
ICNR 2018: Converging Clinical and Engineering Research on Neurorehabilitation III. Springer, 2019. p. 546-550 (Biosystems and Biorobotics, Vol. 21).

Research output: Contribution to book/anthology/report/conference proceeding › Book chapter › Research › peer-review

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AU - Paganelli, Sebastien

AU - Jochumsen, Mads

AU - Niazi, Imran Khan

AU - Simoneau, Emilie

AU - Cremoux, Sylvain

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Modeling and Control of Rehabilitation Robotic Device: motoBOTTE

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