title: Application of a disturbance-rejection controller for robotic-enhanced limb rehabilitation trainings.
abstract: The paper presents an application of a special case of an Active Disturbance Rejection Controller (ADRC) in governing a proper realization of basic limb rehabilitation trainings. The experimental study is performed on a model of a flexible joint manipulator, whose behavior resembles a real robotic rehabilitation device. The multidimensional character of the considered assisting mechanism makes it a nontrivial modeling and control problem. However, by the use of the ADRC approach, the modeling uncertainty in the plant is partially decoupled from the system, which increases the robustness of the whole control framework against both internal and external disturbances.
authors.affiliation: Chair of Control and Systems Engineering, Faculty of Computing, Poznań University of Technology, ul. Piotrowo 3a, 61-138 Poznań, Poland. Electronic address: rafal.madonski@doctorate.put.poznan.pl.
authors.forename: R
authors.initials: R
authors.lastname: Madoński
authors.affiliation: Chair of Control and Systems Engineering, Faculty of Computing, Poznań University of Technology, ul. Piotrowo 3a, 61-138 Poznań, Poland. Electronic address: marta.kordasz@doctorate.put.poznan.pl.
authors.forename: M
authors.initials: M
authors.lastname: Kordasz
authors.affiliation: Chair of Control and Systems Engineering, Faculty of Computing, Poznań University of Technology, ul. Piotrowo 3a, 61-138 Poznań, Poland. Electronic address: piotr.sauer@put.poznan.pl.
authors.forename: P
authors.initials: P
authors.lastname: Sauer
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005081:Exercise Therapy / Q000295:instrumentation*; D005121:Extremities; D005246:Feedback; D006801:Humans; D008328:Man-Machine Systems; D008962:Models, Theoretical; D012046:Rehabilitation / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation*
keywords: Control of mechanical systems; Estimation and detection; Feedback control; Perturbations; Robustness