ICONS 2019 Paper Abstract


Paper WeA1Rob.1

Alvarez, Jorge Luis (Instituto Tecnológico de Sonora), Arceo, Juan Carlos (Université Polytechnique Hauts-de-France), Armenta, Carlos (Sonora Institute of Technology), Lauber, Jimmy (Polytechnic University Hauts-de-France), Bernal, Miguel (Sonora Institute of Technology)

An Extension of Computed-Torque Control for Parallel Robots in Ankle Reeducation

Scheduled for presentation during the Regular Session "Robotics and Autonomous Vehicles" (WeA1Rob), Wednesday, August 21, 2019, 10:50−11:10,

5th IFAC International Conference on Intelligent Control and Automation Sciences, August 21-23, 2019, Queen’s University Belfast, Northern Ireland

This information is tentative and subject to change. Compiled on October 16, 2021

Keywords Controllers and observers design, Robotics and autonomous systems, Medical, biomedical and biological systems


This paper extends the well-known computed-torque control technique for trajectory tracking in parallel robotic manipulators, which belong to the class of nonlinear systems under algebraic restrictions. The proposed methodology is based on Euler-Lagrange modelling which, once the closed-loop kinematic chain is taken into account, leads to a system of differential algebraic equations requiring proper initialisation while controlled. The control scheme is illustrated for an ankle therapy device known as the motoBOTTE, where post-stroke patients are subject to reeducation routines corresponding to different trajectories of the parallel manipulator.


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