TY - JOUR N2 - 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. L1 - http://www.czasopisma.pan.pl/Content/119506/art01.pdf L2 - http://www.czasopisma.pan.pl/Content/119506 PY - 2021 IS - No 1 EP - 27 DO - 10.24425/acs.2021.136878 KW - active disturbance rejection KW - computed torque control KW - differential algebraic equations KW - parallel rehabilitation robot KW - real-time implementation KW - system identification A1 - Arceo, Juan Carlos A1 - Álvarez, Jorge A1 - Armenta, Carlos A1 - Lauber, Jimmy A1 - Cremoux, Sylvain A1 - Simoneau-Buessinger, Emilie A1 - Bernal, Miguel PB - Committee of Automatic Control and Robotics PAS VL - vol. 31 DA - 2021.03.30 T1 - Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation SP - 5 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/119506 T2 - Archives of Control Sciences ER -