A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control
Name
applsci-14-02017.pdf
Size
5.39 MB
Format
Adobe PDF
Checksum (MD5)
49a1183f79d21115df02c5928b650c30
Author(s)
Bodo, Giulia
Tessari, Federico
Buccelli, Stefano
Laffranchi, Matteo
Date Issued
February 29, 2024
Journal
Applied Sciences
Publisher
Multidisciplinary Digital Publishing Institute
Citation
Applied Sciences 14 (5): 2017 (2024)
Version
Final published version
Abstract
In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an approach that tries to abstract from the final implementation with the aim to make control logic more shareable and understandable. The authors will present the outcomes of the application of a Rapid Control Prototyping strategy to an upper-limb robotic exoskeleton. A model-based design approach implemented on a real-time target machine is presented. This modern design approach was explored with several control strategies and was used to test the exoskeleton’s performances. The proposed method highlights how it is possible to develop the entire control architecture in a single programming environment.
Subjects
Fluid Flow and Transfer Processes
Computer Science Applications
Process Chemistry and Technology
General Engineering
Instrumentation
General Materials Science
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.3390/app14052017
