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

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

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Valera Fernández, Á.; Díaz-Rodríguez, M.; Vallés Miquel, M.; Oliver, E.; Mata Amela, V.; Page Del Pozo, AF. (2017). Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system. International Journal of Control. 90(4):702-714. https://doi.org/10.1080/00207179.2016.1215529

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Título: Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system
Autor: Valera Fernández, Ángel Díaz-Rodríguez, Miguel Vallés Miquel, Marina Oliver, E. Mata Amela, Vicente Page Del Pozo, Alvaro Felipe
Entidad UPV: Universitat Politècnica de València. Departamento de Física Aplicada - Departament de Física Aplicada
Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Fecha difusión:
Resumen:
[EN] 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 ...[+]
Palabras clave: Lower-limb rehabilitation , Model-based control , Parameter identification , Controller-observer design , Parallel kinematic mechanism
Derechos de uso: Reserva de todos los derechos
Fuente:
International Journal of Control. (issn: 0020-7179 )
DOI: 10.1080/00207179.2016.1215529
Editorial:
Taylor & Francis
Versión del editor: https://doi.org/10.1080/00207179.2016.1215529
Código del Proyecto:
info:eu-repo/grantAgreement/MINECO//DPI2013-44227-R/ES/METODOLOGIA DE DISEÑO DE SISTEMAS BIOMECATRONICOS. APLICACION AL DESARROLLO DE UN ROBOT PARALELO HIBRIDO PARA DIAGNOSTICO Y REHABILITACION/
Agradecimientos:
This work was partially financed by the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDERCICYT) under the project DPI2013-44227-R and by the Instituto U. de Automatica e Informatica Industrial ...[+]
Tipo: Artículo

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