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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Markovian Robust Filtering and Control Applied to Rehabilitation Robotics

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Author(s):
Escalante, Felix M. [1] ; Jutinico, Andres L. [2] ; Jaimes, Jonathan C. [3] ; Terra, Marco H. [1] ; Siqueira, Adriano A. G. [3]
Total Authors: 5
Affiliation:
[1] Univ Sao Paulo, Dept Elect Engn, BR-13566590 Sao Carlos - Brazil
[2] Univ Antonio Narino, Bogota 110231 - Colombia
[3] Univ Sao Paulo, Dept Mech Engn, BR-13566590 Sao Carlos - Brazil
Total Affiliations: 3
Document type: Journal article
Source: IEEE-ASME TRANSACTIONS ON MECHATRONICS; v. 26, n. 1, p. 491-502, FEB 2021.
Web of Science Citations: 0
Abstract

In this article, we deal with rehabilitation robot robust control in order to obtain best performance in the human-robot interaction. This class of system is subject to abrupt changes due to exogenous inputs and parameter variations caused, mainly, by the human dynamic behavior. In this context, Markovian jump linear systems offer suitable tools to model and control of this class of interactions. We propose force and impedance controllers based on robust recursive Markovian versions of the standard Kalman filter and the linear quadratic regulator. Different levels of the individual's actuation during the interaction with the robot define the Markov states. The measurement of electromyographic signals is used as jump parameter among Markov states. Also, a serious game is used to generate visual feedback, to promote active user participation, and to guide his movement routine. We compare our proposal with two other Markovian-based approaches and show the effectiveness our method through experiments with an ankle rehabilitation platform. (AU)

FAPESP's process: 11/04074-3 - Development of an interactive robotic device for rehabilitation of injuries of the knee
Grantee:Wilian Miranda dos Santos
Support Opportunities: Scholarships in Brazil - Master
FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
Grantee:Marco Henrique Terra
Support Opportunities: Research Projects - Thematic Grants
FAPESP's process: 13/14756-0 - Adaptive variable impedance applied to robotic rehabilitation of walking
Grantee:Adriano Almeida Gonçalves Siqueira
Support Opportunities: Regular Research Grants
FAPESP's process: 19/05937-7 - Hybrid adaptive strategies for lower limb exoskeletons
Grantee:Adriano Almeida Gonçalves Siqueira
Support Opportunities: Regular Research Grants