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Journal Articles Archives of Control Sciences Year : 2021

Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation

Abstract

In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.
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Dates and versions

hal-03426614 , version 1 (12-11-2021)

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Juan Carlos Arceo Luzanilla, Jorge Alvarez, Carlos Daniel Armenta Moreno, Jimmy Lauber, Sylvain Cremoux, et al.. Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation. Archives of Control Sciences, 2021, 31 (1), pp.5-27. ⟨10.24425/acs.2021.136878⟩. ⟨hal-03426614⟩
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