A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control
In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an ap...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
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Multidisciplinary Digital Publishing Institute
2024
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| Online Access: | https://hdl.handle.net/1721.1/153662 |
| _version_ | 1811073379563732992 |
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| author | Bodo, Giulia Tessari, Federico Buccelli, Stefano Laffranchi, Matteo |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Bodo, Giulia Tessari, Federico Buccelli, Stefano Laffranchi, Matteo |
| author_sort | Bodo, Giulia |
| collection | MIT |
| description | In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an approach that tries to abstract from the final implementation with the aim to make control logic more shareable and understandable. The authors will present the outcomes of the application of a Rapid Control Prototyping strategy to an upper-limb robotic exoskeleton. A model-based design approach implemented on a real-time target machine is presented. This modern design approach was explored with several control strategies and was used to test the exoskeleton’s performances. The proposed method highlights how it is possible to develop the entire control architecture in a single programming environment. |
| first_indexed | 2024-09-23T09:32:09Z |
| format | Article |
| id | mit-1721.1/153662 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T09:32:09Z |
| publishDate | 2024 |
| publisher | Multidisciplinary Digital Publishing Institute |
| record_format | dspace |
| spelling | mit-1721.1/1536622024-09-20T19:32:23Z A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control Bodo, Giulia Tessari, Federico Buccelli, Stefano Laffranchi, Matteo Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Fluid Flow and Transfer Processes Computer Science Applications Process Chemistry and Technology General Engineering Instrumentation General Materials Science In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an approach that tries to abstract from the final implementation with the aim to make control logic more shareable and understandable. The authors will present the outcomes of the application of a Rapid Control Prototyping strategy to an upper-limb robotic exoskeleton. A model-based design approach implemented on a real-time target machine is presented. This modern design approach was explored with several control strategies and was used to test the exoskeleton’s performances. The proposed method highlights how it is possible to develop the entire control architecture in a single programming environment. 2024-03-12T19:24:31Z 2024-03-12T19:24:31Z 2024-02-29 2024-03-12T16:38:23Z Article http://purl.org/eprint/type/JournalArticle 2076-3417 https://hdl.handle.net/1721.1/153662 Applied Sciences 14 (5): 2017 (2024) PUBLISHER_CC 10.3390/app14052017 Applied Sciences Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ application/pdf Multidisciplinary Digital Publishing Institute Multidisciplinary Digital Publishing Institute |
| spellingShingle | Fluid Flow and Transfer Processes Computer Science Applications Process Chemistry and Technology General Engineering Instrumentation General Materials Science Bodo, Giulia Tessari, Federico Buccelli, Stefano Laffranchi, Matteo A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control |
| title | A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control |
| title_full | A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control |
| title_fullStr | A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control |
| title_full_unstemmed | A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control |
| title_short | A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control |
| title_sort | rapid control prototyping and hardware in the loop approach for upper limb robotic exoskeletons control |
| topic | Fluid Flow and Transfer Processes Computer Science Applications Process Chemistry and Technology General Engineering Instrumentation General Materials Science |
| url | https://hdl.handle.net/1721.1/153662 |
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