NDLI: Control of a hip rehabilitation robot using a virtual prototype

Content Provider	IEEE Xplore Digital Library
Author	Guzman Valdivia, C.H. Blanco Ortega, A. Oliver Salazar, M.A. Carrera Escobedo, J.L. Lugo Villeda, M.A.
Copyright Year	2013
Description	Author affiliation: Dept. of Mechatron. Eng., Univ. Politec. de Zacatecas (UPZ), Fresnillo, Mexico (Guzman Valdivia, C.H.; Carrera Escobedo, J.L.) \|\| Dept. of Mechatron. Eng., CENIDET, Cuernavaca, Mexico (Blanco Ortega, A.; Oliver Salazar, M.A.) \|\| Dept. of Mechatron. Eng., Univ. Politec. de Sinaloa (UPSin), Mazatlan, Mexico (Lugo Villeda, M.A.)
Abstract	A hip fracture causes musculoskeletal problems which affect the patient to carry out activities of daily living (ADLs) such as standing and walking. Rehabilitation therapies are procedures to restore the movement of a joint or a muscle due to illness or injury. The goal of rehabilitation therapeutic exercises is to perform specific movements that cause muscle activation to the patient, in order to recover and minimize the damage after a prolonged immobilization. In this paper, a hip rehabilitation robot using a virtual prototype is presented which provides flexion/extension movements with a Generalized Proportional Integral (GPI) controller that performs soft movements. A GPI controller is proposed for the efficient rejection of an unknown perturbation input due the weight of the leg and unexpected reflexes of the muscles during the therapy. Simulation results using a GPI controller in a robust perturbation rejection scheme for a trajectory tracking task are presented. In order to assess the performance and outstanding disturbance rejection capabilities of the proposed robust GPI controller, a comparison with a PD and PID controller is also presented.
Starting Page	348
Ending Page	352
File Size	1144843
Page Count	5
File Format	PDF
e-ISBN	9781479914616
DOI	10.1109/ICEEE.2013.6676060
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-30
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hip rehabilitation robot Mechatronics GPI control Virtual prototype
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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