000152036 001__ 152036
000152036 005__ 20250326144154.0
000152036 0247_ $$2doi$$a10.3390/s21155083
000152036 0248_ $$2sideral$$a126204
000152036 037__ $$aART-2021-126204
000152036 041__ $$aeng
000152036 100__ $$aOrtiz J.S.
000152036 245__ $$aVirtual reality-based framework to simulate control algorithms for robotic assistance and rehabilitation tasks through a standing wheelchair
000152036 260__ $$c2021
000152036 5060_ $$aAccess copy available to the general public$$fUnrestricted
000152036 5203_ $$aThe implementation of control algorithms oriented to robotic assistance and rehabilitation tasks for people with motor disabilities has been of increasing interest in recent years. However, practical implementation cannot be carried out unless one has the real robotic system availability. To overcome this drawback, this article presents the development of an interactive virtual reality (VR)-based framework that allows one to simulate the execution of rehabilitation tasks and robotic assistance through a robotic standing wheelchair. The virtual environment developed considers the kinematic and dynamic model of the standing human–wheelchair system with a displaced center of mass, since it can be displaced for different reasons, e.g., : bad posture, limb amputations, obesity, etc. The standing wheelchair autonomous control scheme has been implemented through the Full Simulation (FS) and Hardware in the Loop (HIL) techniques. Finally, the performance of the virtual control schemes has been shown by means of several experiments based on robotic assistance and rehabilitation for people with motor disabilities.
000152036 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/
000152036 590__ $$a3.847$$b2021
000152036 591__ $$aCHEMISTRY, ANALYTICAL$$b29 / 87 = 0.333$$c2021$$dQ2$$eT2
000152036 591__ $$aINSTRUMENTS & INSTRUMENTATION$$b19 / 64 = 0.297$$c2021$$dQ2$$eT1
000152036 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b95 / 274 = 0.347$$c2021$$dQ2$$eT2
000152036 592__ $$a0.803$$b2021
000152036 593__ $$aAnalytical Chemistry$$c2021$$dQ1
000152036 593__ $$aBiochemistry$$c2021$$dQ1
000152036 593__ $$aInstrumentation$$c2021$$dQ1
000152036 593__ $$aInformation Systems$$c2021$$dQ1
000152036 593__ $$aElectrical and Electronic Engineering$$c2021$$dQ1
000152036 594__ $$a6.4$$b2021
000152036 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000152036 700__ $$0(orcid)0000-0002-9408-1280$$aPalacios-Navarro G.$$uUniversidad de Zaragoza
000152036 700__ $$aAndaluz V.H.
000152036 700__ $$aGuevara B.S.
000152036 7102_ $$15008$$2785$$aUniversidad de Zaragoza$$bDpto. Ingeniería Electrón.Com.$$cÁrea Tecnología Electrónica
000152036 773__ $$g21, 15 (2021), 5083 [32 pp.]$$pSensors$$tSensors$$x1424-8220
000152036 8564_ $$s17237026$$uhttps://zaguan.unizar.es/record/152036/files/texto_completo.pdf$$yVersión publicada
000152036 8564_ $$s2838405$$uhttps://zaguan.unizar.es/record/152036/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000152036 909CO $$ooai:zaguan.unizar.es:152036$$particulos$$pdriver
000152036 951__ $$a2025-03-26-13:53:45
000152036 980__ $$aARTICLE