Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control

Leonardo Solaque, Marianne Romero, Alexandra Velasco

2018

Abstract

Assistive devices in rehabilitation have gained much attention in robotics research. Recent actuation systems include compliant elements to provide advantages as natural motions and safety in the interaction with humans. These are the so-called soft actuators, among which there are series elastic actuators (SEA) and variable stiffness actuators (VSA). On the other hand, control strategies are required in order to accomplish desired tasks in a proper manner. In rehabilitation systems this is to reproduce a desired motion without affecting the patient, so the control system is crucial. In this paper, we present a control strategy for a knee rehabilitation device, with soft actuation. The goal is to control the system while maintaining the intrinsic softness of the system when the patient is in the rehabilitation process. We propose a feedback control strategy, acting in a defined threshold to maintain the stiffness of the system, combined with a feedforward decision control to reject disturbances.

Paper Citation

in Harvard Style

Solaque L. and Romero M. (2018). Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 156-162. DOI: 10.5220/0006861001560162

in Bibtex Style

@conference{icinco18,
author={Leonardo Solaque and Marianne Romero},
title={Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={156-162},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006861001560162},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control
SN - 978-989-758-321-6
AU - Solaque L.
AU - Romero M.
PY - 2018
SP - 156
EP - 162
DO - 10.5220/0006861001560162