Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system

DOI10.1080/00207179.2016.1215529MaRDI QIDQ5280279zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Ángel Valera, Miguel Díaz-Rodríguez, M. Vallés, E. C. Oliver, Vicente Mata, Álvaro Page

Publication date 20 July 2017

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2016.1215529

zbMATH Keywords

controller-observer designlower-limb rehabilitationmodel-based controlparallel kinematic mechanismparameter identification

Mathematics Subject Classification ID

Medical applications (general) (92C50) Observability (93B07) System identification (93B30) Control/observation systems governed by ordinary differential equations (93C15)

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Cites work

• A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
• Global identification of joint drive gains and dynamic parameters of parallel robots
• scientific article; zbMATH DE number 3435336 (Why is no real title available?)
• Numerical calculation of the base inertial parameters of robots
• Robot control via robust estimated state feedback

Cited in

(11)

• Multiple-input, multiple-output system identification for characterization of limb stiffness dynamics
• Optimal predictive impedance control in the presence of uncertainty for a lower limb rehabilitation robot
• A simplified inverse dynamics modelling method for a novel rehabilitation exoskeleton with parallel joints and its application to trajectory tracking
• Impedance adaptive controller for a prototype of a whiplash syndrome rehabilitation device
• Towards intelligent robot-assisted rehabilitation systems
• Period steady-state and autonomous control of the upper limb transfer system of rehabilitation robots
• Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation
• Tracking control and identification of interaction forces for a rehabilitative training Walker whose centre of gravity randomly shifts
• scientific article; zbMATH DE number 7108592 (Why is no real title available?)
• Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models
• A modified homotopy optimization for parameter identification in dynamic systems with backlash discontinuity

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