@ARTICLE{Arceo_Juan_Carlos_Novel_2021,
 author={Arceo, Juan Carlos and Álvarez, Jorge and Armenta, Carlos and Lauber, Jimmy and Cremoux, Sylvain and Simoneau-Buessinger, Emilie and Bernal, Miguel},
 volume={vol. 31},
 number={No 1},
 journal={Archives of Control Sciences},
 pages={5-27},
 howpublished={online},
 year={2021},
 publisher={Committee of Automatic Control and Robotics PAS},
 abstract={In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.},
 type={Article},
 title={Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation},
 URL={http://journals.pan.pl/Content/119506/art01.pdf},
 doi={10.24425/acs.2021.136878},
 keywords={active disturbance rejection, computed torque control, differential algebraic equations, parallel rehabilitation robot, real-time implementation, system identification},
}