Title :
Adaptive control for passive kinesiotherapy ELLTIO
Author :
Lopez, R. ; Aguilar-Sierra, H. ; Salazar, S. ; Torres, Juana ; Lozano, Rogelio
Author_Institution :
Autom. Control, LAFMIA, CINVESTAV, Mexico City, Mexico
Abstract :
Exoskeletons are mechatronic devices used to increase human muscles strength and resistance. In the last decade these devices have become a very useful tool to assist in active kinesiotherapy. This paper deals with the design of a control law for the so called Exoskeleton for Lower Limb Training with Instrumented Orthoses (ELLTIO) using SEA (Series Elastic Actuator), to perform a rehabilitation routine for knee and ankle. An adaptive control scheme is proposed and implemented in real-time experiments.
Keywords :
adaptive control; artificial limbs; control system synthesis; medical robotics; orthotics; patient treatment; SEA; active kinesiotherapy; adaptive control; ankle rehabilitation routine; control law design; exoskeleton for lower limb training with instrumented orthoses; exoskeletons; human muscles resistance; human muscles strength; knee rehabilitation routine; mechatronic devices; passive kinesiotherapy ELLTIO; series elastic actuator; Actuators; Exoskeletons; Force; Joints; Knee; Prototypes; Trajectory;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766454
