Motion Control of a Robotic Lumbar Spine Model

被引：1

作者：

Paixao, Thuanne ^{[1
]}

Alvarez, Ana Beatriz ^{[1
]}

Florez, Ruben ^{[2
]}

Palomino-Quispe, Facundo ^{[2
]}

机构：

[1] Univ Acre, PAVIC Lab, Rio Branco, Brazil

[2] Univ San Antonio Abad del Cusco, Sch Elect Engn, LIECAR Lab, Cuzco, Peru

来源：

BIOINFORMATICS AND BIOMEDICAL ENGINEERING, IWBBIO 2023, PT I | 2023年 / 13919卷

关键词：

Biomechanics; Motion control; Robotic lumbar spine;

D O I：

10.1007/978-3-031-34953-9_16

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The study of the movement of the vertebrae of the lumbar spine is classified as a relevant theme for research, considering the possibility of exploring the pathological dysfunctions of this region. This paper presents the development of a trajectory motion control for a lumbar spine model. The spine model is being represented by a 2 DOF (Degrees of Freedom) manipulator robot, which represents the motion of two lumbar vertebrae. For the computational simulations of the controlled spine behavior the mathematical dynamic model of the manipulator based on the Lagrange approach is being considered. Preliminary simulation results show that the implemented conventional controller robustly follows the references given for the angles of the vertebrae, guaranteeing the planned movement.

引用

页码：205 / 216

页数：12

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