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Authors: Leonardo Solaque ; Marianne Romero and Alexandra Velasco

Affiliation: Universidad Militar Nueva Granada-Mechatronics Engineering Department, Bogota and Colombia

ISBN: 978-989-758-321-6

Keyword(s): Feedback and Feedforward Control, Knee Rehabilitation Device, Soft Actuation.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: Assistive devices in rehabilitation have gained much attention in robotics research. Recent actuation systems include compliant elements to provide advantages as natural motions and safety in the interaction with humans. These are the so-called soft actuators, among which there are series elastic actuators (SEA) and variable stiffness actuators (VSA). On the other hand, control strategies are required in order to accomplish desired tasks in a proper manner. In rehabilitation systems this is to reproduce a desired motion without affecting the patient, so the control system is crucial. In this paper, we present a control strategy for a knee rehabilitation device, with soft actuation. The goal is to control the system while maintaining the intrinsic softness of the system when the patient is in the rehabilitation process. We propose a feedback control strategy, acting in a defined threshold to maintain the stiffness of the system, combined with a feedforward decision control to reject di sturbances. (More)

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Paper citation in several formats:
Solaque, L.; Romero, M. and Velasco, A. (2018). Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 156-162. DOI: 10.5220/0006861001660172

@conference{icinco18,
author={Leonardo Solaque. and Marianne Romero. and Alexandra Velasco.},
title={Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={156-162},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006861001660172},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control
SN - 978-989-758-321-6
AU - Solaque, L.
AU - Romero, M.
AU - Velasco, A.
PY - 2018
SP - 156
EP - 162
DO - 10.5220/0006861001660172

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