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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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Contributor : Kathleen TORCK Connect in order to contact the contributor
Submitted on : Friday, November 12, 2021 - 1:56:45 PM
Last modification on : Monday, July 4, 2022 - 10:16:45 AM



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, Polish Academy of Sciences, 2021, 31 (1), pp.5-27. ⟨10.24425/acs.2021.136878⟩. ⟨hal-03426614⟩



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