Rehabilitation Robotics : Kinematics, Dynamics, and Control Techniques

著者名：Cardona, Manuel/Serrano, Fernando E.

Springer（2025/04/25発売）

• 言語：ENG
• ISBN：9783031836541
• eISBN：9783031836558

Description

Rehabilitation robotics is an important field of study focused on improving the gait rehabilitation of people affected by neurological disorders, ictus, cerebral palsy, and spinal cord injuries, among others. The study of rehabilitation robotics includes medical activities, kinematics dynamics, and control analysis. This book presents a complete and exhaustive analysis of the kinematics and dynamics of exoskeleton robots for rehabilitation. The forward and inverse kinematics are studied using the geometric, Denavit-Hartenberg, and screw theory approach. The dynamics analysis of exoskeleton robots using Newton-Euler, Euler–Lagrange, and D'Alembert formulation are also studied. Moreover, the main control techniques for exoskeleton robots are analyzed, including robust control, impedance control, adaptive control, Lyapunov functions, and uncertainties found in dynamic systems. The book includes MATLAB applications and examples.

Table of Contents

Introduction.- Fundamentals of Exoskeleton Robots for Rehabilitation.- Mathematical Tools for Exoskeleton Robots.-Kinematics Analysis of Exoskeleton Robots.- Geometrical Approach.- Denavit & Hartenberg Method.- Successive Screw Method.- Dynamics Analysis of Exoskeleton Robots.- Newton-Euler Formulation.- Lagrange-Euler Approach.- Dalembert General Formulation.- Dynamic Solution Based on Dynamic Simulation.-Control Techniques for Exoskeleton Robots.- Robust Control Strategies.- Robust Control Lyapunov Functions.- Impedance Control.- Adaptive Control.- Uncertainties Found in Dynamic Systems.