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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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https://hal-uphf.archives-ouvertes.fr/hal-03411287
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Submitted on : Tuesday, November 2, 2021 - 10:26:25 AM
Last modification on : Wednesday, November 3, 2021 - 3:53:01 AM

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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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