000151470 001__ 151470
000151470 005__ 20250310131043.0
000151470 0247_ $$2doi$$a10.3390/s21093057
000151470 0248_ $$2sideral$$a126626
000151470 037__ $$aART-2021-126626
000151470 041__ $$aeng
000151470 100__ $$aOrtiz, J.S.
000151470 245__ $$aThree-dimensional unified motion control of a robotic standing wheelchair for rehabilitation purposes
000151470 260__ $$c2021
000151470 5060_ $$aAccess copy available to the general public$$fUnrestricted
000151470 5203_ $$aTechnological advances in recent years have shown interest in the development of robots in the medical field. The integration of robotic systems in areas of assistance and rehabilitation improves the user’s quality of life. In this context, this article presents a proposal for the unified control of a robotic standing wheelchair. Considering primary and secondary tasks as control objectives, the system performs tasks autonomously and the change of position and orientation can be performed at any time. The development of the control scheme was divided in two parts: (i) kinematic controller to solve the desired motion problem; and (ii) dynamic compensation of the standing wheelchair–human system. The design of the two controllers considers the theory of linear algebra, proposing a low computational cost and an asymptotically stable algorithm, without disturbances. The stability and robustness analysis of the system is performed by analyzing the evolution of the control errors in each sampling period. Finally, real experiments of the performance of the developed controller are performed using a built and instrumented standing wheelchair.
000151470 536__ $$9info:eu-repo/grantAgreement/ES/UZ/Cátedra Devoture de Tecnología para el Ser Humano
000151470 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/
000151470 590__ $$a3.847$$b2021
000151470 591__ $$aCHEMISTRY, ANALYTICAL$$b29 / 87 = 0.333$$c2021$$dQ2$$eT2
000151470 591__ $$aINSTRUMENTS & INSTRUMENTATION$$b19 / 64 = 0.297$$c2021$$dQ2$$eT1
000151470 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b95 / 274 = 0.347$$c2021$$dQ2$$eT2
000151470 592__ $$a0.803$$b2021
000151470 593__ $$aAnalytical Chemistry$$c2021$$dQ1
000151470 593__ $$aBiochemistry$$c2021$$dQ1
000151470 593__ $$aInstrumentation$$c2021$$dQ1
000151470 593__ $$aInformation Systems$$c2021$$dQ1
000151470 593__ $$aElectrical and Electronic Engineering$$c2021$$dQ1
000151470 594__ $$a6.4$$b2021
000151470 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000151470 700__ $$0(orcid)0000-0002-9408-1280$$aPalacios-Navarro, G.$$uUniversidad de Zaragoza
000151470 700__ $$aAndaluz, V.H.
000151470 700__ $$aRecalde, L.F.
000151470 7102_ $$15008$$2785$$aUniversidad de Zaragoza$$bDpto. Ingeniería Electrón.Com.$$cÁrea Tecnología Electrónica
000151470 773__ $$g21, 9 (2021), 3057 [35 pp.]$$pSensors$$tSensors$$x1424-8220
000151470 8564_ $$s13173225$$uhttps://zaguan.unizar.es/record/151470/files/texto_completo.pdf$$yVersión publicada
000151470 8564_ $$s2844291$$uhttps://zaguan.unizar.es/record/151470/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000151470 909CO $$ooai:zaguan.unizar.es:151470$$particulos$$pdriver
000151470 951__ $$a2025-03-10-12:56:22
000151470 980__ $$aARTICLE