Development of an interactive robotic device for rehabilitation of injuries of the knee

• Grant number: 11/04074-3
• Support Opportunities: Scholarships in Brazil - Master
• Start date: September 01, 2011
• End date: March 31, 2013
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Wilian Miranda dos Santos
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This master's project will deal with the development of an interactive active orthosis for rehabilitation of injuries of the knee, to assist people in post-operative treatment. The active knee orthosis will be driven by a series elastic actuator torsional, a device that presents ideal characteristics for use in this type of equipment: controllable impedance (possibility of low impedance), low friction and bandwidth that approaches to the muscle movement. Robust control techniques based on H-infinity criterion will be used to ensure proper system performance, even in the presence of external disturbances and parametric uncertainties. In addition, to provide better equipment acceptance by the patient and increase motivation for treatment, it will be used computer games developed considering the characteristics and interests of the group being treated. (AU)

Scientific publications

(10)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Markovian Robust Filtering and Control Applied to Rehabilitation Robotics. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 26, n. 1, p. 491-502, FEB 2021. (11/04074-3, 14/50851-0, 13/14756-0, 19/05937-7)

ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Robust linear quadratic regulator applied to an inverted pendulum. ASIAN JOURNAL OF CONTROL, v. N/A, p. 13-pg., 2022-11-08. (11/04074-3, 14/50851-0, 13/14756-0, 19/05937-7)

JUTINICO, ANDRES L.; ESCALANTE, FELIX M.; JAIMES, JONATHAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.; IEEE. Markovian robust compliance control based on electromyographic signals. 2018 7TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB2018), v. N/A, p. 6-pg., 2018-01-01. (11/04074-3, 13/14756-0, 14/50851-0)

ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.; IEEE. Robust Kalman Filter and Robust Regulator For Discrete-time Markovian Jump Linear Systems: Control of Series Elastic Actuators. 2018 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA), v. N/A, p. 6-pg., 2018-01-01. (11/04074-3, 13/14756-0)

PEREZ IBARRA, JUAN C.; DOS SANTOS, WILIAN M.; KREBS, HERMANO I.; SIQUEIRA, ADRIANO A. G.; IEEE. Adaptive Impedance Control for Robot-Aided Rehabilitation of Ankle Movements. 2014 5TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), v. N/A, p. 6-pg., 2014-01-01. (11/04074-3)

DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.; IEEE. Robust Torque Control Based on H-infinity Criterion of an Active Knee Orthosis. 2014 5TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), v. N/A, p. 6-pg., 2014-01-01. (11/04074-3)

SANCHEZ, MANUEL R. A.; LEAL-JUNIOR, ARNALDO G.; SEGATTO, V, MARCELO; MARQUES, CARLOS; DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.; FRIZERA, ANSELMO. Fiber Bragg grating-based sensor for torque and angle measurement in a series elastic actuator's spring. APPLIED OPTICS, v. 57, n. 27, p. 7883-7890, SEP 20 2018. (11/04074-3, 13/14756-0)

JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; ESCALANTE, FELIX M.; PEREZ-IBARRA, JUAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach. FRONTIERS IN NEUROROBOTICS, v. 11, AUG 24 2017. (11/04074-3, 13/14756-0)

JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; ESCALANTE, FELIX M.; PEREZ-IBARRA, JUAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Recursive Robust Regulator for Discrete-time Markovian Jump Linear Systems: Control of Series Elastic Actuators. IFAC PAPERSONLINE, v. 50, n. 1, p. 6-pg., 2017-01-01. (11/04074-3, 13/14756-0)

PEREZ-IBARRA, JUAN C.; JUTINICO ALARCON, ANDRES L.; CAMPO JAIMES, JONATHAN; ESCALANTE ORTEGA, FELIX M.; TERRA, MARCO HENRIQUE; SIQUEIRA, ADRIANO A. G.; IEEE. Design and Analysis of H-infinity Force Control of a Series Elastic Actuator for Impedance Control of an Ankle Rehabilitation Robotic Platform. 2017 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 6-pg., 2017-01-01. (11/04074-3, 13/14756-0)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

SANTOS, Wilian Miranda dos. Development of an interactive robotic device for rehabilitation of injuries of the knee. 2013. Master's Dissertation - Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) São Carlos.