Modeling and Control of Rehabilitation Robotic Device: motoBOTTE
Résumé
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.