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An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation

Abstract : This paper extends the well-known computed-torque control technique for trajectory tracking in parallel robotic manipulators, which belong to the class of nonlinear systems under algebraic restrictions. The proposed methodology is based on Euler-Lagrange modelling which, once the closed-loop kinematic chain is taken into account, leads to a system of differential algebraic equations requiring proper initialisation while controlled. The control scheme is illustrated for an ankle therapy device known as the motoBOTTE, where post-stroke patients are subject to reeducation routines corresponding to different trajectories of the parallel manipulator.
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Submitted on : Monday, January 10, 2022 - 2:36:40 PM
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Jorge Alvarez, Juan Carlos Arceo Luzanilla, Carlos Daniel Armenta Moreno, Jimmy Lauber, Miguel Bernal. An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation. 5th IFAC Conference on Intelligent Control and Automation Science, Aug 2019, Belfast, Ireland. pp.1-6, ⟨10.1016/j.ifacol.2019.09.109⟩. ⟨hal-03519415⟩



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