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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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dc.contributor.author Valera Fernández, Ángel es_ES
dc.contributor.author Díaz-Rodríguez, Miguel es_ES
dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Oliver, E. es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Page Del Pozo, Alvaro Felipe es_ES
dc.date.accessioned 2020-07-15T03:32:43Z
dc.date.available 2020-07-15T03:32:43Z
dc.date.issued 2017 es_ES
dc.identifier.issn 0020-7179 es_ES
dc.identifier.uri http://hdl.handle.net/10251/148012
dc.description.abstract [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 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 customising 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. es_ES
dc.description.sponsorship 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 (ai2) of the Universitat Politecnica de Valencia. es_ES
dc.language Inglés es_ES
dc.publisher Taylor & Francis es_ES
dc.relation.ispartof International Journal of Control es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Lower-limb rehabilitation es_ES
dc.subject Model-based control es_ES
dc.subject Parameter identification es_ES
dc.subject Controller-observer design es_ES
dc.subject Parallel kinematic mechanism es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.classification FISICA APLICADA es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.title Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1080/00207179.2016.1215529 es_ES
dc.relation.projectID 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/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Física Aplicada - Departament de Física Aplicada es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation 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 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1080/00207179.2016.1215529 es_ES
dc.description.upvformatpinicio 702 es_ES
dc.description.upvformatpfin 714 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 90 es_ES
dc.description.issue 4 es_ES
dc.relation.pasarela S\343307 es_ES
dc.contributor.funder European Regional Development Fund es_ES
dc.contributor.funder Universitat Politècnica de València es_ES
dc.contributor.funder Ministerio de Economía, Industria y Competitividad es_ES
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