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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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Submitted on : Friday, May 27, 2022 - 2:36:54 PM
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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. Converging Clinical and Engineering Research on Neurorehabilitation III, 21, Springer International Publishing, pp.546-550, 2019, Biosystems & Biorobotics, 978-3-030-01845-0. ⟨10.1007/978-3-030-01845-0_110⟩. ⟨hal-03680094⟩



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