The exoskeleton for gait rehabilitation ALICE: dynamic analysis and control system evaluation using Hamilton quaternions

[EN] A robotic exoskeleton is an electromechanical device that can be worn by a person to increase its physical capacity, to assist locomotion or for gait rehabilitation processes. In the case of rehabilitation exoskeletons, the control system is required to be smooth and capable to match accurately with the patients’ evolution in order to optimize the eciency of their recovery, this implies the design of robust and precise controllers. In this paper, kinematic analysis, dynamic analysis and control system evaluation for ALICE rehabilitation exoskeleton is presented. Among the control techniques used are: the PD controller, adaptive PD, and the sliding mode controller. In addition, a stability analysis using the Lyapunov criterion is performed. To test the performance of the controllers, gait data obtained by the ONCE School of  Physiotherapy in Madrid, which correspond to healthy people and people with multiple sclerosis, are used. MATLAB as simulation software and programming language is used.[ES] Un exoesqueleto robótico es un dispositivo electromecánico utilizado para aumentar la capacidad física de una persona, como ayuda a la locomoción o para procesos de rehabilitación de la marcha. En el caso de los exoesqueletos de rehabilitación se requiere que el sistema de control sea capaz de adaptarse adecuadamente a la evolución del paciente con el fin de optimizar su recuperación, esto implica el diseño de controladores robustos y precisos. En este trabajo se presenta el análisis cinemático, análisis dinámico y evaluación del sistema de control del exoesqueleto de rehabilitación ALICE. Dentro de las técnicas de control presentadas se encuentran: el controlador PD, PD adaptativo, y el controlador en modo deslizante. Además, se realiza un análisis de estabilidad utilizando el criterio de Lyapunov. Para probar el rendimiento de los reguladores, se utiliza un conjunto de datos de la Escuela de Fisioterapia de la ONCE de Madrid, correspondiente a personas sanas y personas con esclerosis múltiple. Se utiliza MATLAB como software de simulación y lenguaje de programación.Manuel Cardona agradece a la Fundación Carolina y a la Universidad Politécnica de Madrid, España, por el apoyo para la realización de esta investigación gracias a la beca de Doctorado otorgada en el marco del convenio con la Universidad Don Bosco, El Salvador.Cardona, M.; Serrano, F.; Martín, JA.; Rausell, E.; Saltaren, R.; García-Cena, C. (2020). El exoesqueleto de rehabilitación de la marcha ALICE: análisis dinámico y evaluación del sistema de control utilizando cuaternios de Hamilton. Revista Iberoamericana de Automática e Informática industrial. 18(1):48-57. https://doi.org/10.4995/riai.2020.12558OJS4857181Abolvafaei, M., Ganjefar, S., 2019. 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