Rehabilitation Robotics: Kinematics, Dynamics, and Control Techniques
暫譯: 復健機器人學：運動學、動力學與控制技術

復健機器人學是一個重要的研究領域，專注於改善受神經疾病、中風、腦性麻痺和脊髓損傷等影響的人士的步態復健。復健機器人學的研究包括醫療活動、運動學動力學和控制分析。本書對於用於復健的外骨骼機器人的運動學和動力學進行了完整而詳盡的分析。前向和逆向運動學使用幾何法、Denavit-Hartenberg法和螺旋理論進行研究。外骨骼機器人的動力學分析則使用牛頓-歐拉法、歐拉-拉格朗日法和達朗貝爾法進行研究。此外，本書還分析了外骨骼機器人的主要控制技術，包括穩健控制、阻抗控制、自適應控制、Lyapunov函數以及動態系統中存在的不確定性。本書包含MATLAB應用和範例。

Dr. Manuel Cardona is a distinguished Salvadoran scientist and a pioneer in the fields of robotics, automation, digital transformation, and disruptive technologies. With extensive experience in the Fourth Industrial Revolution, his expertise encompasses research, development, and innovation in robotic systems, the Internet of Things (IoT), Artificial Intelligence, Computer Vision, Industry 4.0, and the application of advanced technologies in medicine. He is recognized as the first Doctor in Automation and Robotics from El Salvador, marking a significant milestone in the country's scientific and technological development.

Dr. Cardona holds a degree in Electrical Engineering (Summa Cum Laude), a Master's in Automation and Robotics (Highest Honors), and a PhD in Automation and Robotics (Cum Laude) from the Polytechnic University of Madrid (UPM), Spain. He also holds a postgraduate degree in Scientific Research and Innovation Management. In 2023, he completed a postdoctoral fellowship in modeling and simulation of sobotic systems for muscle rehabilitation at UPM. He has been awarded four prestigious scholarships from Fundación Carolina, solidifying his academic and scientific career. Dr. Cardona serves as the Research Director at Universidad Don Bosco in El Salvador. He is also the co-founder and CEO of STEAM Robotics Academy, an academy focused on robotics, artificial intelligence, and disruptive technologies, and the CEO and founder of SARA Robotics, a company that integrates disruptive technologies and develops smart automation solutions for industry. As a consultant, he advises national and international universities and companies on research, innovation, automation, and digital transformation.

With over 95 published scientific articles and more than 350 lectures delivered in countries such as Mexico, Guatemala, El Salvador, Honduras, Nicaragua, Costa Rica, Panama, Colombia, Peru, Ecuador, Spain, Vietnam, India, and Japan, Dr. Cardona is a leading figure in his field. He has edited five books with Springer, one with Taylor & Francis, and one with Elsevier . He also serves as a reviewer for around 15 prestigious international journals included in Journal Citation Reports (JCR) on Web of Science. With more than 80 articles indexed in Scopus, he is the Salvadoran researcher with the highest presence on this platform and has been awarded numerous international congress prizes for his scientific contributions. His main research areas include rehabilitation robotics, kinematics and dynamics of serial and parallel robots, IoT, smart cities, computer vision, artificial intelligence, Industry 4.0, and disruptive technologies. He is a Senior Member of the IEEE and a professional member of the IEEE Honor Society Eta Kappa Nu (IEEE-HKN).

Fernando E. Serrano is working and collaborating as an associated researcher with the Institute of Energy Research (Instituto de Investigación en Energía) at the Universidad Nacional Autónoma de Honduras (UNAH). He received his BEng from the Central American Technical University (UNITEC), Tegucigalpa, Honduras, in 2003 and his M.Sc. in Electrical Engineering from Florida International University, Miami, in 2007. Currently he is a PhD student in automatic control at the Universidad Politécnica de Cataluña in Barcelona, Spain. He is the author of a number of journal articles, conference papers, and book chapters and a collaborating researcher with professors from Egypt, Spain, Honduras, El Salvador, and Mexico. His research areas are control of complex systems and adaptive control.

Dr. Manuel Cardona 是一位傑出的薩爾瓦多科學家，也是機器人技術、自動化、數位轉型和顛覆性技術領域的先驅。擁有第四次工業革命的豐富經驗，他的專業涵蓋機器人系統、物聯網 (IoT)、人工智慧、計算機視覺、工業 4.0 以及先進技術在醫學中的應用的研究、開發和創新。他被認可為薩爾瓦多第一位自動化與機器人博士，這標誌著該國科學和技術發展的重要里程碑。

Dr. Cardona 擁有西班牙馬德里理工大學 (UPM) 的電機工程學位 (Summa Cum Laude)、自動化與機器人碩士學位 (最高榮譽) 以及自動化與機器人博士學位 (Cum Laude)。他還擁有科學研究與創新管理的研究生學位。2023 年，他在 UPM 完成了針對肌肉康復的機器人系統建模與模擬的博士後研究。他獲得了四項來自 Fundación Carolina 的著名獎學金，鞏固了他的學術和科學事業。Dr. Cardona 擔任薩爾瓦多唐博斯科大學的研究主任。他還是 STEAM Robotics Academy 的共同創辦人和首席執行官，該學院專注於機器人技術、人工智慧和顛覆性技術，以及 SARA Robotics 的首席執行官和創辦人，該公司整合顛覆性技術並為工業開發智能自動化解決方案。作為顧問，他為國內外大學和公司提供有關研究、創新、自動化和數位轉型的建議。

Dr. Cardona 發表了超過 95 篇科學文章，並在墨西哥、危地馬拉、薩爾瓦多、洪都拉斯、尼加拉瓜、哥斯大黎加、巴拿馬、哥倫比亞、秘魯、厄瓜多、 西班牙、越南、印度和日本等國家進行了超過 350 場演講，是他所在領域的領軍人物。他編輯了五本與 Springer 出版的書籍、一部與 Taylor & Francis 出版的書籍，以及一部與 Elsevier 出版的書籍。他還擔任約 15 本國際知名期刊的審稿人，這些期刊均列入 Web of Science 的期刊引證報告 (JCR)。在 Scopus 上擁有超過 80 篇被索引的文章，他是該平台上薩爾瓦多研究者中最具影響力的，並因其科學貢獻獲得多項國際會議獎項。他的主要研究領域包括康復機器人、串聯和並聯機器人的運動學與動力學、物聯網、智慧城市、計算機視覺、人工智慧、工業 4.0 和顛覆性技術。他是 IEEE 的高級會員，也是 IEEE 榮譽學會 Eta Kappa Nu (IEEE-HKN) 的專業會員。

Fernando E. Serrano 目前在洪都拉斯國立自治大學 (UNAH) 的能源研究所 (Instituto de Investigación en Energía) 擔任聯合研究員。他於 2003 年在洪都拉斯的中美洲技術大學 (UNITEC) 獲得工程學士學位，並於 2007 年在邁阿密的佛羅里達國際大學獲得電機工程碩士學位。目前，他是西班牙巴塞隆納的加泰羅尼亞理工大學的自動控制博士生。他是多篇期刊文章、會議論文和書籍章節的作者，並與來自埃及、西班牙、洪都拉斯、薩爾瓦多和墨西哥的教授合作進行研究。他的研究領域包括複雜系統的控制和自適應控制。