Robust Torque Control Based on H-infinity Criterion of an Active Knee Orthosis

Autor(es)

dos Santos, Wilian M. ; Siqueira, Adriano A. G. ; IEEE

• Tipo de documento: Artigo Científico
• Fonte: 2014 5TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB); v. N/A, p. 6-pg., 2014-01-01.

Resumo

The authors present in this paper a robust torque control of an active orthosis designed to assist the knee joint flexion/extension during physical therapy. The orthosis is driven by a rotary Series Elastic Actuator presented in authors' previous paper. The adopted control strategy is based on H-infinity criterion in order to ensure good system performance even when it is subjected to parametric uncertainties and external disturbances. The controller performance is evaluated through the frequency response function analysis. Experimental results involving the interaction between a subject and the active knee orthosis are also presented to show the performance of the developed prototype. (AU)

• Processo FAPESP: 11/04074-3 - Desenvolvimento de um dispositivo robótico interativo para reabilitação de lesões da articulação do joelho
• Beneficiário: Wilian Miranda dos Santos
• Modalidade de apoio: Bolsas no Brasil - Mestrado