Three-dimensional unified motion control of a robotic standing wheelchair for rehabilitation purposes

Ortiz, J.S. ; Palacios-Navarro, G. (Universidad de Zaragoza) ; Andaluz, V.H. ; Recalde, L.F.

Resumen: Technological 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.

Idioma: Inglés

DOI: 10.3390/s21093057

Año: 2021

Publicado en: Sensors 21, 9 (2021), 3057 [35 pp.]
ISSN: 1424-8220

Factor impacto JCR: 3.847 (2021)

Categ. JCR: CHEMISTRY, ANALYTICAL rank: 29 / 87 = 0.333 (2021) - Q2 - T2
Categ. JCR: INSTRUMENTS & INSTRUMENTATION rank: 19 / 64 = 0.297 (2021) - Q2 - T1
Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 95 / 274 = 0.347 (2021) - Q2 - T2

Factor impacto CITESCORE: 6.4 - Engineering (Q1) - Physics and Astronomy (Q1) - Biochemistry, Genetics and Molecular Biology (Q2)

Factor impacto SCIMAGO: 0.803 - Analytical Chemistry (Q1) - Biochemistry (Q1) - Instrumentation (Q1) - Information Systems (Q1) - Electrical and Electronic Engineering (Q1)

Financiación: info:eu-repo/grantAgreement/ES/UZ/Cátedra Devoture de Tecnología para el Ser Humano

Tipo y forma: Article (Published version)

Área (Departamento): Área Tecnología Electrónica (Dpto. Ingeniería Electrón.Com.)