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Record Nr. |
UNINA9910999785803321 |
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Autore |
Cardona Manuel |
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Titolo |
Rehabilitation Robotics : Kinematics, Dynamics, and Control Techniques / / by Manuel Cardona, Fernando E. Serrano |
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Pubbl/distr/stampa |
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Cham : , : Springer Nature Switzerland : , : Imprint : Springer, , 2025 |
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ISBN |
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Edizione |
[1st ed. 2025.] |
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Descrizione fisica |
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1 online resource (VIII, 184 p. 126 illus.) |
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Disciplina |
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Soggetti |
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Biomedical engineering |
Robotics |
Biomechanics |
Human-machine systems |
Biomedical Engineering and Bioengineering |
Robotic Engineering |
Biomechanical Analysis and Modeling |
Biomedical Devices and Instrumentation |
Human-Machine Interfaces |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Nota di contenuto |
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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. |
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Sommario/riassunto |
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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 |
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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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