Ankle torque estimation based on disturbance observers for robotic rehabilitation

Designing safe and tailored strategies for robotic therapy requires the knowledge of patient joint torques, allowing control strategies to adjust the torque level provided by the robotic device according to the patient’s performance. Given the impracticability of measuring human joint torques direct...

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Veröffentlicht in:	Journal of the Brazilian Society of Mechanical Sciences and Engineering 2024-09, Vol.46 (9), Article 554
Hauptverfasser:	Jaimes, Jonathan C., Orjuela-Cañón, Alvaro D., Siqueira, Adriano A. G.
Format:	Artikel
Sprache:	eng
Schlagworte:	Ankle Configuration management Disturbance observers Engineering Error analysis Estimation Human performance Impact analysis Kalman filters Measuring instruments Mechanical Engineering Performance evaluation Position measurement Rehabilitation Rehabilitation robots Robot control Robotics Sitting position Statistical analysis Technical Paper Torque Variance analysis
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