En colaboración con la Universidad de Paris-Est se busca un estudiante de doctorado para trabajar en el desarrollo y modelos de exoesqueletos y sistemas de medición de movimiento.
Exoskeleton robots are highly nonlinear redundant systems with specific unit segment inertial parameters (SIP). Exoskeletons SIP are usually based on CAD data, but these do not take into account cabling, or other flexible attachments. A good knowledge of the SIP is important when using model-based controllers to guarantee stability since the robustness. The manual and individual measurement of these parameter beeing cumbersome, an authomated procedre is preferable (Ayusawa et al., 2013). Exoskeleton, such as the one present at the University of Paris-Est Créteil possess the ability to measure the actuator current, i.e. the image of the joint torque, important for the estimation of inertial parameters. The challenge is to implement the parameter identification using mass-market electronics, such as force resistive sensors and IMU that incorporate accelerometers and gyroscopes. To do so, a new constrained Extended Kalman Filter (EKF), allowing to determine a state vector, i.e. the joint trajectories and the inertial parameters, under constraints, i.e. the joint limitations and parameters physical consistency, while tracking measured quantities, kinematics and/or dynamics, showed promising capabilities to solve such problem (Bonnet et al. 2017).
Contacto: vincent.bonnet[AT]u-pec.fr, alejandro.gonzalez[AT]uaslp.mx,