Markovian Robust Filtering and Control Applied to Rehabilitation Robotics

• Published in: IEEE/ASME transactions on mechatronics Vol. 26; no. 1; pp. 491 - 502
• Main Authors: Escalante, Felix M., Jutinico, Andres L., Jaimes, Jonathan C., Terra, Marco H., Siqueira, Adriano A. G.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuation; Dynamics; Force; Human engineering; Human performance; IEEE transactions; Impedance; Kalman filters; Linear quadratic regulator; Linear systems; Markovian jump linear systems (MJLS); Mechatronics; Parameters; Rehabilitation; Rehabilitation robots; Robot control; Robot kinematics; robotic rehabilitation; Robotics; Robots; Robust control; robust estimation

In this article, we deal with rehabilitation robot robust control in order to obtain best performance in the human-robot interaction. This class of system is subject to abrupt changes due to exogenous inputs and parameter variations caused, mainly, by the human dynamic behavior. In this context, Mar...