A robotic vehicle for disabled children

Ceres, R.; Pons, José L; Calderón, L.; Jiménez, Agustín; Azevedo, Leonardo

doi:10.1109/memb.2005.1549731

Cited by 32 publications

(16 citation statements)

References 11 publications

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“…These customizations can serve as a complement to other ad hoc devices that result from technological advances in mobility and adaptation to the environment. Such devices already incorporate assistance technologies such as GPS, sensor networks, and augmented reality (30).…”

Section: Direct Manufacture Of Orthotic Devices For Performance Enhanmentioning

confidence: 99%

Rapid Prototyping for Biomedical Engineering: Current Capabilities and Challenges

Lantada

Morgado

2012

Annu. Rev. Biomed. Eng.

152

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A new set of manufacturing technologies has emerged in the past decades to address market requirements in a customized way and to provide support for research tasks that require prototypes. These new techniques and technologies are usually referred to as rapid prototyping and manufacturing technologies, and they allow prototypes to be produced in a wide range of materials with remarkable precision in a couple of hours. Although they have been rapidly incorporated into product development methodologies, they are still under development, and their applications in bioengineering are continuously evolving. Rapid prototyping and manufacturing technologies can be of assistance in every stage of the development process of novel biodevices, to address various problems that can arise in the devices' interactions with biological systems and the fact that the design decisions must be tested carefully. This review focuses on the main fields of application for rapid prototyping in biomedical engineering and health sciences, as well as on the most remarkable challenges and research trends.

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Section: Direct Manufacture Of Orthotic Devices For Performance Enhanmentioning

confidence: 99%

Rapid Prototyping for Biomedical Engineering: Current Capabilities and Challenges

Lantada

Morgado

2012

Annu. Rev. Biomed. Eng.

152

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“…1. The PALMA project was developed with the main aim of proposing an attractive tool for integral development of children with severe neurological problems, Azevedo (2006); Ceres et al (2005). PALMIBER vehicle aims to create a commercial product based on the concept validated by PALMA project.…”

Section: The Palmiber Vehiclementioning

confidence: 99%

“…The clinical validation of the vehicle was performed in the framework of the PALMA project, Ceres et al (2005). In the experiments, a set of potential users was selected.…”

Section: Clinical Validation Of the Vehiclementioning

confidence: 99%

New Strategies of Mobility and Interaction for People with Cerebral Palsy

Raya¹,

Rocón²,

Ceres³

et al. 2012

Assistive Technologies

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“…1 Electric Powered Wheelchairs (EPWs) are one of the most favorable technologies being investigated since they allow people with physical disabilities to carry out normal tasks with greater independence and to get on with their lives. 2 The use of a human-machine interface also allows people with severe and complex disabilities to select a desired target. 3 The trajectory to be achieved is thus generated and the wheelchair control system is in charge of guiding the wheelchair to the desired target.…”

Section: Introductionmentioning

confidence: 99%

Robust output feedback control for the trajectory tracking of robotic wheelchairs

et al. 2014

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This paper addresses the trajectory tracking control problem of robotic wheelchairs in the presence of modeling uncertainties. The controller has been designed using position and angular measurements. A global ultra-model, or simplified model achieved from flatness considerations is proposed first. This model highly reduces the design complexity of the state estimation and the output feedback control tasks since it groups, as an unknown time-varying disturbance, both the combined effects of all uncertain state-dependent (i.e., endogenous) nonlinearities and those of external (i.e., exogenous) perturbation inputs which are present in the input-to-flat output model of the system. An extended linear high-gain observer, or Generalized Proportional Integral (GPI) observer, is then developed for the simultaneous, though approximate, state and disturbance estimation. The proposed feedback controller combines the global ultra-model and the GPI observers to conform an active disturbance rejection, or disturbance accommodation, control scheme. The simulation results presented in the paper show that the proposed method has a very good tracking performance and robustness in the presence of system uncertainties, external disturbances and noisy corruptions.

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A robotic vehicle for disabled children

Cited by 32 publications

References 11 publications

Rapid Prototyping for Biomedical Engineering: Current Capabilities and Challenges

Rapid Prototyping for Biomedical Engineering: Current Capabilities and Challenges

New Strategies of Mobility and Interaction for People with Cerebral Palsy

Robust output feedback control for the trajectory tracking of robotic wheelchairs

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