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Design and control of a sit-to-stand assistive device via EtherCAT fieldbus

Abstract : This paper presents a technological solution for designing an assistive device for a biomechanical study of the Sit-to-Stand movement (STS). This device targets people with disabilities following a stroke. The control algorithms are implemented in TwinCAT runtime environment. The communication between all the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this architecture lies in the fact that it allows a quick development of a research prototype with the same safety issues found on an industrial machine. An experimental test of the STS strategy is presented.
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https://hal-uphf.archives-ouvertes.fr/hal-03414932
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Submitted on : Thursday, November 4, 2021 - 5:24:58 PM
Last modification on : Friday, November 5, 2021 - 4:22:59 AM

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Benyamine Allouche, Antoine Dequidt, Laurent Vermeiren, Pauline Hamon. Design and control of a sit-to-stand assistive device via EtherCAT fieldbus. 2017 IEEE International Conference on Industrial Technology (ICIT), Mar 2017, Toronto, ON, Canada. pp.761-766, ⟨10.1109/ICIT.2017.7915455⟩. ⟨hal-03414932⟩

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