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Open AccessArticle

Virtual Sensors for Advanced Controllers in Rehabilitation Robotics

Department of Automatic Control and System Engineering, Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Plaza Ingeniero Torres Quevedo 1, 48013 Bilbao, Spain
Neurorehabilitation Area, Health Division, TECNALIA Research and Innovation, Mikeletegi Pasealekua 1-3, Donostia-San Sebastian 20009, Spain
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2018, 18(3), 785;
Received: 26 January 2018 / Revised: 2 March 2018 / Accepted: 2 March 2018 / Published: 5 March 2018
(This article belongs to the Special Issue Smart Sensors for Mechatronic and Robotic Systems)
In 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. View Full-Text
Keywords: rehabilitation robotic device; Force Virtual Sensor; motion virtual sensor; advanced controller rehabilitation robotic device; Force Virtual Sensor; motion virtual sensor; advanced controller
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MDPI and ACS Style

Mancisidor, A.; Zubizarreta, A.; Cabanes, I.; Portillo, E.; Jung, J.H. Virtual Sensors for Advanced Controllers in Rehabilitation Robotics. Sensors 2018, 18, 785.

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