Control por retroalimentación dinámica y observadores de estado para un dispositivo de rehabilitación de rodilla usando actuación flexible

Dynamic feedback control and state observers for a knee rehabilitation device using soft action

Contenido principal del artículo

Andres Felipe Guatibonza Artunduaga
Leonardo Enrique Solaque Guzmán
Alexandra Velasco Vivas


Rehabilitation devices with soft components increasingly attract more attention due to their characteristics in human-robot interaction. However, these types of systems have a certain level of complexity when analyzing and controlling. We have designed a 5-link knee rehabilitation device operated on two of the five joints using elastic action to help the movement of the knee. In this work, we simplify the modeling of the rehabilitation device in a smooth acting system of 1 degree of freedom. Subsequently, we present the design and implementation of a dynamic feedback controller to track a desired reference. For the proposed controller, we implemented a state observer to estimate the rigidity of the system and some of the states. As a result, we present the design and implementation of the controller with a status observer, which follows a desired angular path with a desired stiffness. We demonstrate in simulation, through tests aimed at carrying out some rehabilitation routines, to validate the effectiveness and stability of the controlled system, which responds effectively to disturbances.


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Detalles del artículo

Biografía del autor/a (VER)

Andres Felipe Guatibonza Artunduaga, Universidad Militar Nueva Granada

Ingeniero en Mecatronica de la Universidad Militar Nueva Granada en Bogota - Colombia, trabajo como auxiliar de investigacion en la Universidad Militar Nueva Granada, departamento de ingenieria, en la linea de investigacion de robotica y control enfocada a sistemas de rehabilitacion

Leonardo Enrique Solaque Guzmán, Universidad Militar Nueva Granada

Ingeniero electrónico de la Universidad de Antioquia - Colombia. Estudió el máster en Ingeniería Eléctrica en la Universidad de los Andrés - Colombia. Obtuvo el Ph.D. en Control Automático en 2007 de LAAS-CNRS e INSA de Toulouse - Francia. Sus principales áreas de investigación son: sistema de control, robótica, planificación y seguimiento de rutas, sistema de filtro y fusión sensorial.
Actualmente es profesor asociado en el Departamento de Mecatrónica de la Universidad Militar Nueva Granada, Bogotá.

Alexandra Velasco Vivas, Universidad Militar Nueva Granada

Ingeniera electrónica y máster en ingeniería electrónica de la Universidad Javeriana. Obtuvo el Ph.D. en Robótica, Automatización y Bioingeniería en 2015 de la Universidad de Pisa. Sus principales áreas de investigación están en Control y Robótica enfocadas en sistemas de rehabilitación, planificación de trayectoria y optimización.
Actualmente es profesora asistente en el Departamento de Mecatrónica de la Universidad Militar Nueva Granada, Bogotá.

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