Virtual sensors for advanced controllers in rehabilitation robotics

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dc.contributor.authorMancisidor, Aitziber
dc.contributor.authorZubizarreta, Asier
dc.contributor.authorCabanes, Itziar
dc.contributor.authorPortillo, Eva
dc.contributor.authorJung, Je Hyung
dc.contributor.institutionMedical Technologies
dc.date.accessioned2024-07-24T12:03:15Z
dc.date.available2024-07-24T12:03:15Z
dc.date.issued2018-03-05
dc.descriptionPublisher Copyright: © 2018 by the authors. Licensee MDPI, Basel, Switzerland.
dc.description.abstractIn order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.en
dc.description.sponsorshipAcknowledgments: This work was supported in part by the Basque Country Governments (GV/EJ) under grant PRE-2014-1-152, UPV/EHU’s PPG17/56 project, Basque Country Governments IT914-16 project, Spanish Ministry of Economy and Competitiveness’ MINECO & FEDER inside DPI2017-82694-R project, Euskampus, FIK and Spanish Ministry of Science and Innovation PDI-020100-2009-21 project. This work was supported in part by the Basque Country Governments (GV/EJ) under grant PRE-2014-1-152, UPV/EHU’s PPG17/56 project, Basque Country Governments IT914-16 project, Spanish Ministry of Economy and Competitiveness’ MINECO & FEDER inside DPI2017-82694-R project, Euskampus, FIK and Spanish Ministry of Science and Innovation PDI-020100-2009-21 project.
dc.description.statusPeer reviewed
dc.identifier.citationMancisidor , A , Zubizarreta , A , Cabanes , I , Portillo , E & Jung , J H 2018 , ' Virtual sensors for advanced controllers in rehabilitation robotics ' , Sensors , vol. 18 , no. 3 , 785 . https://doi.org/10.3390/s18030785
dc.identifier.doi10.3390/s18030785
dc.identifier.issn1424-8220
dc.identifier.urihttps://hdl.handle.net/11556/3333
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85043365445&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofSensors
dc.relation.projectIDBasque Country Governments
dc.relation.projectIDBasque Country Governments IT914-16, IT914-16
dc.relation.projectIDGV/EJ, PRE-2014-1-152
dc.relation.projectIDMINECO & FEDER inside DPI2017-82694-R
dc.relation.projectIDSpanish Ministry of Economy and Competitiveness
dc.relation.projectIDMinistry of Science, Innovation and Universities, PDI-020100-2009-21
dc.relation.projectIDFederación Española de Enfermedades Raras, FEDER
dc.relation.projectIDMinisterio de Economía y Competitividad, MINECO, DPI2017-82694-R
dc.relation.projectIDEuskal Herriko Unibertsitatea
dc.relation.projectIDMinisterio de Ciencia e Innovación, MICINN
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsAdvanced controller
dc.subject.keywordsForce virtual sensor
dc.subject.keywordsMotion virtual sensor
dc.subject.keywordsRehabilitation robotic device
dc.subject.keywordsAnalytical Chemistry
dc.subject.keywordsBiochemistry
dc.subject.keywordsAtomic and Molecular Physics, and Optics
dc.subject.keywordsInstrumentation
dc.subject.keywordsElectrical and Electronic Engineering
dc.titleVirtual sensors for advanced controllers in rehabilitation roboticsen
dc.typejournal article
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