Rehabilitation Robotics Kinematics, Dynamics, and Control Techniques /
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...
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| Hlavní autoři: | , |
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| Korporativní autor: | |
| Médium: | Elektronický zdroj E-kniha |
| Jazyk: | angličtina |
| Vydáno: |
Cham :
Springer Nature Switzerland : Imprint: Springer,
2025.
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| Vydání: | 1st ed. 2025. |
| Témata: | |
| On-line přístup: | https://doi.org/10.1007/978-3-031-83655-8 |
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| Shrnutí: | 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. Includes MATLAB applications and examples; Presents state of the art of exoskeleton robots for rehabilitation; Covers fundamental rehabilitation concepts. |
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| Fyzický popis: | 1 online resource (VIII, 184 p. 126 illus.). |
| ISBN: | 9783031836558 |
| DOI: | 10.1007/978-3-031-83655-8 |