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Conference Papers Year : 2019

Modeling and Control of Rehabilitation Robotic Device: motoBOTTE

Abstract

The motoBOTTE is a robot designed for assistive rehabilitation. The identification of a mathematical model for the system is shown; then we design and implement a nonlinear control law for tracking a reference signal. The nonlinear controller design is achieved by combining an exact convex representation with the direct method of Lyapunov. Results are given in terms of linear matrix inequalities (LMI); simulation and real-time results are shown as well.
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Dates and versions

hal-03411287 , version 1 (02-11-2021)

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Juan Carlos Arceo Luzanilla, Jimmy Lauber, Lucien Robinault, Sebastien Paganelli, Mads Jochumsen, et al.. Modeling and Control of Rehabilitation Robotic Device: motoBOTTE. 5th International Conference on NeuroRehabilitation, Oct 2018, Pisa, Italy. pp.546-550, ⟨10.1007/978-3-030-01845-0_110⟩. ⟨hal-03411287⟩
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