dc.contributor.author | Yepes J.C | |
dc.contributor.author | Rúa S | |
dc.contributor.author | Osorio M | |
dc.contributor.author | Pérez V.Z | |
dc.contributor.author | Moreno J.A | |
dc.contributor.author | Al-Jumaily A | |
dc.contributor.author | Betancur M.J. | |
dc.date.accessioned | 2023-10-24T19:25:12Z | |
dc.date.available | 2023-10-24T19:25:12Z | |
dc.date.created | 2022 | |
dc.identifier.issn | 20763417 | |
dc.identifier.uri | http://hdl.handle.net/11407/8050 | |
dc.description.abstract | Lower limb rehabilitation robot (LLRR) users, to successfully conduct isotonic exercises, require real-time feedback on the torque they exert on the robot to meet the goal of the treatment. Still, direct torque measuring is expensive, and indirect encoder-based estimation strategies, such as inverse dynamics (ID) and Nonlinear Disturbance Observers (NDO), are sensitive to Body Segment Inertial Parameters (BSIPs) uncertainties. We envision a way to minimize such parametric uncertainties. This paper proposes two human–robot interaction torque estimation methods: the Identified ID-based method (IID) and the Identified NDO-based method (INDO). Evaluating in simulation the proposal to apply, in each rehabilitation session, a sequential two-phase method: (1) An initial calibration phase will use an online parameter estimation to reduce sensitivity to BSIPs uncertainties. (2) The torque estimation phase uses the estimated parameters to obtain a better result. We conducted simulations under signal-to-noise ratio (SNR) = 40 dB and 20% BSIPs uncertainties. In addition, we compared the effectiveness with two of the best methods reported in the literature via simulation. Both proposed methods obtained the best Coefficient of Correlation, Mean Absolute Error, and Root Mean Squared Error compared to the benchmarks. Moreover, the IID and INDO fulfilled more than 72.2% and 88.9% of the requirements, respectively. In contrast, both methods reported in the literature only accomplish 27.8% and 33.3% of the requirements when using simulations under noise and BSIPs uncertainties. Therefore, this paper extends two methods reported in the literature and copes with BSIPs uncertainties without using additional sensors. © 2022 by the authors. Licensee MDPI, Basel, Switzerland. | eng |
dc.language.iso | eng | |
dc.publisher | MDPI | |
dc.relation.isversionof | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85131529997&doi=10.3390%2fapp12115529&partnerID=40&md5=2c018eaa2f61dad2eb8e62e2cf18a222 | |
dc.source | Appl. Sci. | |
dc.source | Applied Sciences (Switzerland) | eng |
dc.subject | Computer simulation | eng |
dc.subject | Exoskeletons | eng |
dc.subject | Force feedback | eng |
dc.subject | Mathematical model | eng |
dc.subject | Nonlinear systems | eng |
dc.subject | System identification | eng |
dc.title | Human-Robot Interaction Torque Estimation Methods for a Lower Limb Rehabilitation Robotic System with Uncertainties | eng |
dc.type | Article | |
dc.rights.accessrights | info:eu-repo/semantics/restrictedAccess | |
dc.publisher.program | Ingeniería de Telecomunicaciones | spa |
dc.type.spa | Artículo | |
dc.identifier.doi | 10.3390/app12115529 | |
dc.relation.citationvolume | 12 | |
dc.relation.citationissue | 11 | |
dc.publisher.faculty | Facultad de Ingenierías | spa |
dc.affiliation | Yepes, J.C., Electronics Engineering, Universidad Pontificia Bolivariana, Medellín, 050031, Colombia | |
dc.affiliation | Rúa, S., Electronics and Telecommunications Engineering Department, Universidad de Medellín, Medellín, 050026, Colombia | |
dc.affiliation | Osorio, M., Electronics Engineering, Universidad Pontificia Bolivariana, Medellín, 050031, Colombia | |
dc.affiliation | Pérez, V.Z., Electronics Engineering, Universidad Pontificia Bolivariana, Medellín, 050031, Colombia | |
dc.affiliation | Moreno, J.A., Instituto de Ingeniería, Universidad Nacional Autónoma de México, Ciudad de México, 04510, Mexico | |
dc.affiliation | Al-Jumaily, A., ENSTA Bretagne, French State Graduate, Brest, 29200, France, School of Computing, Mathematics and Engineering, Charles Sturt University, Bathurst, 2678, Australia, School of Science, Edith Cowan University, Joondalup, 6027, Australia | |
dc.affiliation | Betancur, M.J., Electronics Engineering, Universidad Pontificia Bolivariana, Medellín, 050031, Colombia | |
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dc.type.version | info:eu-repo/semantics/publishedVersion | |
dc.identifier.reponame | reponame:Repositorio Institucional Universidad de Medellín | |
dc.identifier.repourl | repourl:https://repository.udem.edu.co/ | |
dc.identifier.instname | instname:Universidad de Medellín | |