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Session: Poster session I
Session starts: Thursday 24 January, 15:00

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Carsten Voort ()
Alexander Otten ()
Arno Stienen ()
Ronald Aarts ()
Herman van der Kooij ()

Abstract:
Diagnostic robots provide objective information by measuring joint torques, velocities, positions and intrinsic muscle properties. This information can be used to modify training programs or to diagnose patients. This paper focuses on the modeling and control of the Limpact exoskeleton, which will be used for diagnostics. A non-linear rigid dynamic model of the Limpact exoskeleton is derived using 20-sim. By means of state reduction the model is reduced to its four independent degrees of freedom. The resulting model is used to design a CTCL (computed-torque control law) which linearizes, stabilizes and controls the non-linear dynamic system. Simulations and experiments are shown for three different control structures: PD control, PD control with gravity compensation, and CTCL. The simulations and experiments show the performance of the three control structures on path tracking and steady state errors. PD control with gravity compensation clearly outperforms the other two control structures.