Diseño de un sistema de control de fuerza e impedancia para una Órtesis de rodilla

Abstract

This project describes the design and comparison of torque and impedance controllers for an actuated orthosis, which is a device used for therapeutic treatment in order to assist the functions of the neuromuscular and skeletal system, in cases such as strokes, where due to neuronal damage caused by lack of oxygen, causes as a consequence difficulty coordinating the forces necessary to control it properly some joints. Due to the complexity of human dynamics, where abrupt changes in rigidity may occur, a torque control based on a robust regulator was designed for Markov’s discrete time jump linear systems (RR-DMJLS). In addition, in order to be able to compare its operation, a linear quadratic regulator (LQR) and a nominal regulator for DMJLS were designed, where for each, once the torque control was designed, an impedance control loop was added varying the possible values of virtual stiffness and damping and its stability and complementary stability were analyzed to finally compare their performances.