Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system (bibtex)
by , , , , ,
Abstract:
Rehabilitation is a hazardous task for a mechanical system, since the device has to interact with the human extremities without the hands-on experience the physiotherapist acquires over time. A gap needs to be filled in terms of designing effective controllers for this type of devices. In this respect, the paper describes the design of a model-based control for an electromechanical lower-limb rehabilitation system based on a Parallel Kinematic Mechanism. A controller observer was designed for estimating joint velocities, which are then used in a hybrid position/force control scheme. The model parameters are identified by customizing an approach based on identifying only the relevant system dynamics parameters. Findings obtained through simulations show evidence of improvement in tracking performance compared with those where the velocity was estimated by numerical differentiation. The controller is also implemented in an actual electromechanical system for lower-limb rehabilitation tasks. Findings based on rehabilitation tasks confirm the findings from simulations.
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Reference:
Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system (Angel Valera, Miguel Diaz-Rodriguez, Marina Valle, Ernesto Oliver, Vicente Mata, Alvaro Page), In International Journal of Control, Taylor & Francis, volume 90, 2017.
Bibtex Entry:
@article{valera2017,
  title={Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system},
  author={Valera, Angel and Diaz-Rodriguez, Miguel and  Valle, Marina and Oliver, Ernesto and Mata, Vicente and Page, Alvaro},
  year={2017},
  journal={International Journal of Control},
  publisher={Taylor & Francis},
  volume={90},
  number={4},
pages = {702-714},
  url={http://dx.doi.org/10.1080/00207179.2016.1215529},
  doi={10.1080/00207179.2016.1215529},
  abstract={Rehabilitation is a hazardous task for a mechanical system, since the device has to interact with the human extremities without the hands-on experience the physiotherapist acquires over time. A gap needs to be filled in terms of designing effective controllers for this type of devices. In this respect, the paper describes the design of a model-based control for an electromechanical lower-limb rehabilitation system based on a Parallel Kinematic Mechanism. A controller observer was designed for estimating joint velocities, which are then used in a hybrid position/force control scheme. The model parameters are identified by customizing an approach based on identifying only the relevant system dynamics parameters. Findings obtained through simulations show evidence of improvement in tracking performance compared with those where the velocity was estimated by numerical differentiation. The controller is also implemented in an actual electromechanical system for lower-limb rehabilitation tasks. Findings based on rehabilitation tasks confirm the findings from simulations.
},
gsid={https://scholar.google.com/scholar?oi=bibs&hl=es&cites=645293859753418704},
}
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