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A Stiffness-fault-tolerant control strategy for an elastically actuated powered knee orthosis
dc.contributor.author | Velasco-Guillen, Rodrigo J. |
dc.contributor.author | Grosu, Victor |
dc.contributor.author | Carmona Ortiz, Víctor A. |
dc.contributor.author | Vanderborght, Bram |
dc.contributor.author | Lefeber, Dirk |
dc.contributor.author | Font Llagunes, Josep Maria |
dc.contributor.author | Beckerle, Philipp |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica |
dc.date.accessioned | 2021-03-02T13:21:47Z |
dc.date.issued | 2020 |
dc.identifier.citation | Velasco-Guillen, R.J. [et al.]. A Stiffness-fault-tolerant control strategy for an elastically actuated powered knee orthosis. A: IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. "2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BIOROB): New York City, USA: Novembre 29 - Decembre 1, 2020: proceedings". Institute of Electrical and Electronics Engineers (IEEE), 2020, p. 660-665. ISBN 9781728159089. DOI 10.1109/BioRob49111.2020.9224403. |
dc.identifier.isbn | 9781728159089 |
dc.identifier.uri | http://hdl.handle.net/2117/340753 |
dc.description.abstract | Elastic actuators can provide safe human-robot interaction and energy efficient mobility. For this purpose they are ideal for wearable robotic applications. However, such actuators are subject to stiffness faults. We present a stiffness-fault-tolerant control strategy for complex elastic actuators, capable of adapting to changes in output stiffness, and demonstrate it on a smart variable stiffness actuator based on the MACCEPA concept. We develop the dynamics of the actuator and a model-based impedance control scheme. Biomechanical data extracted from the flexion/extension of a real knee joint are used as trajectory reference for the evaluation of the control concept in simulation. Results show that the controlled actuator is capable of tracking a reference trajectory under fault conditions and interaction disturbance while maintaining physical human-robot characteristics. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Enginyeria biomèdica |
dc.subject | Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica |
dc.subject.lcsh | Biomechanics |
dc.subject.lcsh | Orthopedic implants |
dc.subject.lcsh | Artificial joints |
dc.subject.lcsh | Robotics |
dc.subject.other | Actuators |
dc.subject.other | Torque |
dc.subject.other | Springs |
dc.subject.other | Trajectory |
dc.subject.other | Impedance |
dc.subject.other | Robots |
dc.subject.other | Estimation |
dc.title | A Stiffness-fault-tolerant control strategy for an elastically actuated powered knee orthosis |
dc.type | Conference report |
dc.subject.lemac | Biomecànica |
dc.subject.lemac | Pròtesis ortopèdiques |
dc.subject.lemac | Articulacions artificials |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab |
dc.identifier.doi | 10.1109/BioRob49111.2020.9224403 |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9224403 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 30628333 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Velasco-Guillen, R.J.; Grosu, V.; Carmona-Ortiz, V.; Vanderborght, B.; Lefeber, D.; Font-Llagunes, J.M.; Beckerle, P. |
local.citation.contributor | IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics |
local.citation.publicationName | 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BIOROB): New York City, USA: Novembre 29 - Decembre 1, 2020: proceedings |
local.citation.startingPage | 660 |
local.citation.endingPage | 665 |