Browsing by Author "Cabanes, I."
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Item Kinematic and dynamic modeling of a multifunctional rehabilitation robot UHP(Springer Netherlands, 2018) Mancisidor, A.; Zubizarreta, A.; Cabanes, I.; Bengoa, P.; Jung, J. H.; Hofbaur, Michael; Husty, Manfred; Medical TechnologiesThe design of a suitable controller that handles robot-human interaction is one of the critical tasks in rehabilitation robotics. For this purpose, an accurate model of the robot is required. The Universal Haptic Pantograph (UHP) is a novel upper limb rehabilitation robot that can be configured to perform arm or wrist exercises. This work is focused on the latter, solving the kinematic model by the use of the closure loop equations, while Lagrangian formulation is used to estimate the interaction force. In order to prove the effectiveness of the model, several experimental tests are carried out. Results demonstrate that the mean motion error is less than 1 mm, and the estimated force error less than 10%.Item Modelling and control of a semi-active suspension system(Kluwer Academic Publishers, 2014-01-01) Colina, A.; Lerma, G.; Cabanes, I.; Iglesias, I.; Petuya, Victor; Petuya, Victor; Pinto, Charles; Pinto, Charles; Lovasz, Erwin-Christian; Lovasz, Erwin-Christian; INNOV_AIR_MOBILThe suspension system is composed of several deformable elements such as springs and dampers, which connect the car body to wheels and absorb vibrations generated by road irregularities. The main purpose of suspension system is to isolate the vehicle body from disturbances in order to keep wheels in contact with the road surface to contribute to road holding, and in order to maximize passenger ride comfort. This paper describes a semi-active suspension system of 2 degrees of freedom (2DOF), typically referred to as a quarter car model. To design a suspension control system that improve ride comfort, dynamic modelling of semi-active suspension was developed. Control strategies were implemented for these semi-active suspension systems using MATLAB® and Simulink® software. The results show that the semi-active suspension system controlled by a logical strategy minimizes vertical acceleration experienced by passengers, compared to passive suspension system.