The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions
A robotic exoskeleton is an electromechanical device that can be worn by a person to increase its physical capacity, to assist locomotion or for gait rehabilitation processes. In the case of rehabilitation exoskeletons, the control system is required to be smooth and capable to match accurately with...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | Spanish |
| Published: |
Universitat Politecnica de Valencia
2020-12-01
|
| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/12558 |
| _version_ | 1819180244776517632 |
|---|---|
| author | M. Cardona F. Serrano J. A. Martín E. Rausell R. Saltaren C. García-Cena |
| author_facet | M. Cardona F. Serrano J. A. Martín E. Rausell R. Saltaren C. García-Cena |
| author_sort | M. Cardona |
| collection | DOAJ |
| description | A robotic exoskeleton is an electromechanical device that can be worn by a person to increase its physical capacity, to assist locomotion or for gait rehabilitation processes. In the case of rehabilitation exoskeletons, the control system is required to be smooth and capable to match accurately with the patients’ evolution in order to optimize the eciency of their recovery, this implies the design of robust and precise controllers. In this paper, kinematic analysis, dynamic analysis and control system evaluation for ALICE rehabilitation exoskeleton is presented. Among the control techniques used are: the PD controller, adaptive PD, and the sliding mode controller. In addition, a stability analysis using the Lyapunov criterion is performed. To test the performance of the controllers, gait data obtained by the ONCE School of Physiotherapy in Madrid, which correspond to healthy people and people with multiple sclerosis, are used. MATLAB as simulation software and programming language is used. |
| first_indexed | 2024-12-22T22:11:16Z |
| format | Article |
| id | doaj.art-eb60019c2b1d47d4b95d82e52a61c011 |
| institution | Directory Open Access Journal |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| last_indexed | 2024-12-22T22:11:16Z |
| publishDate | 2020-12-01 |
| publisher | Universitat Politecnica de Valencia |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj.art-eb60019c2b1d47d4b95d82e52a61c0112022-12-21T18:10:53ZspaUniversitat Politecnica de ValenciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202020-12-01181485710.4995/riai.2020.125588323The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternionsM. Cardona0F. Serrano1J. A. Martín2E. Rausell3R. Saltaren4C. García-Cena5Centro de Automática y Robótica, UPM-CSIC, Universidad Politécnica de Madrid, España. Universidad Don Bosco, El SalvadorUniversidad Tecnológica Centroamericana (UNITEC)Escuela de Fisioterapia de la ONCE, Universidad Autónoma de Madrid, España.Universidad Autónoma de Madrid, Facultad de MedicinaCentro de Automática y Robótica, UPM-CSIC, Universidad Politécnica de MadridCentro de Automática y Robótica, UPM-CSIC, Universidad Politécnica de MadridA robotic exoskeleton is an electromechanical device that can be worn by a person to increase its physical capacity, to assist locomotion or for gait rehabilitation processes. In the case of rehabilitation exoskeletons, the control system is required to be smooth and capable to match accurately with the patients’ evolution in order to optimize the eciency of their recovery, this implies the design of robust and precise controllers. In this paper, kinematic analysis, dynamic analysis and control system evaluation for ALICE rehabilitation exoskeleton is presented. Among the control techniques used are: the PD controller, adaptive PD, and the sliding mode controller. In addition, a stability analysis using the Lyapunov criterion is performed. To test the performance of the controllers, gait data obtained by the ONCE School of Physiotherapy in Madrid, which correspond to healthy people and people with multiple sclerosis, are used. MATLAB as simulation software and programming language is used.https://polipapers.upv.es/index.php/RIAI/article/view/12558controldinámicaexoesqueletoesclerosis múltiplemiembro inferiorrehabilitaciónrobótica |
| spellingShingle | M. Cardona F. Serrano J. A. Martín E. Rausell R. Saltaren C. García-Cena The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions Revista Iberoamericana de Automática e Informática Industrial RIAI control dinámica exoesqueleto esclerosis múltiple miembro inferior rehabilitación robótica |
| title | The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions |
| title_full | The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions |
| title_fullStr | The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions |
| title_full_unstemmed | The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions |
| title_short | The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions |
| title_sort | exoskeleton for gait rehabilitation alice dynamic analysis and control system evaluation using hamilton quaternions |
| topic | control dinámica exoesqueleto esclerosis múltiple miembro inferior rehabilitación robótica |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/12558 |
| work_keys_str_mv | AT mcardona theexoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT fserrano theexoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT jamartin theexoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT erausell theexoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT rsaltaren theexoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT cgarciacena theexoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT mcardona exoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT fserrano exoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT jamartin exoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT erausell exoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT rsaltaren exoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions AT cgarciacena exoskeletonforgaitrehabilitationalicedynamicanalysisandcontrolsystemevaluationusinghamiltonquaternions |