Browsing by Author "Garcia Reino, Sebastian Alejandro"

Filter results by typing the first few letters
Now showing 1 - 1 of 1
  • Thumbnail Image
    Item
    Desarrollo de un sistema de control centralizado aplicado a la marcha bípeda de un exoesqueleto robótico de extremidades inferiores
    (Universidad de Cuenca, 2025-05-05) Garcia Reino, Sebastian Alejandro; Minchala Ávila, Luis Ismael; Calle Siguencia, John Ignacio
    The development of robotic exoskeletons has experienced remarkable progress in recent years, beco-ming a key technology for the assistance and rehabilitation of people with reduced mobility. However, one of the main challenges remains ensuring a stable and natural bipedal gait. This requires the design of robust and accurate control algorithms, as well as the efficient integration of sensors and actuators for real-time estimation and control. In this work, a centralized nonlinear model predictive control (NMPC) system was simulated and validated. Multibody modeling in Simulink was used to represent the exos-keleton’s dynamics. Additionally, experimental validation of inertial sensors designed by the Research Group on Electronics and Control at the University of Cuenca was carried out. The results show that the NMPC controller significantly outperforms the PID controller in tracking the hip and knee joint references, achieving lower values for mean squared error (MSE), mean absolute error (MAE), and cumulative error metrics (IAE and ISE). Notably, NMPC demonstrated greater adaptability to temporal variations in the gait cycle, maintaining high accuracy even under demanding conditions, which highlights its potential for future applications in real-world environments.