{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T11:53:57Z","timestamp":1767182037735,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,4,27]],"date-time":"2021-04-27T00:00:00Z","timestamp":1619481600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Corporaci\u00f3n Ecuatoriana para el Desarrollo de la Investigaci\u00f3n y Academia\u2013CEDIA","award":["CEPRA XIV-2020-08: VRA"],"award-info":[{"award-number":["CEPRA XIV-2020-08: VRA"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Technological advances in recent years have shown interest in the development of robots in the medical field. The integration of robotic systems in areas of assistance and rehabilitation improves the user\u2019s quality of life. In this context, this article presents a proposal for the unified control of a robotic standing wheelchair. Considering primary and secondary tasks as control objectives, the system performs tasks autonomously and the change of position and orientation can be performed at any time. The development of the control scheme was divided in two parts: (i) kinematic controller to solve the desired motion problem; and (ii) dynamic compensation of the standing wheelchair\u2013human system. The design of the two controllers considers the theory of linear algebra, proposing a low computational cost and an asymptotically stable algorithm, without disturbances. The stability and robustness analysis of the system is performed by analyzing the evolution of the control errors in each sampling period. Finally, real experiments of the performance of the developed controller are performed using a built and instrumented standing wheelchair.<\/jats:p>","DOI":"10.3390\/s21093057","type":"journal-article","created":{"date-parts":[[2021,4,27]],"date-time":"2021-04-27T21:18:20Z","timestamp":1619558300000},"page":"3057","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9085-4402","authenticated-orcid":false,"given":"Jessica S.","family":"Ortiz","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering and Communications, University of Zaragoza, 44003 Teruel, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9408-1280","authenticated-orcid":false,"given":"Guillermo","family":"Palacios-Navarro","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering and Communications, University of Zaragoza, 44003 Teruel, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"V\u00edctor H.","family":"Andaluz","sequence":"additional","affiliation":[{"name":"Departamento de El\u00e9ctrica y Electr\u00f3nica, Universidad de las Fuerzas Armadas\u2013ESPE, Sangolqu\u00ed 171103, Ecuador"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5296-7385","authenticated-orcid":false,"given":"Luis F.","family":"Recalde","sequence":"additional","affiliation":[{"name":"Departamento de El\u00e9ctrica y Electr\u00f3nica, Universidad de las Fuerzas Armadas\u2013ESPE, Sangolqu\u00ed 171103, Ecuador"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,4,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"172988141986216","DOI":"10.1177\/1729881419862164","article-title":"Underactuated Robotics: A Review","volume":"16","author":"He","year":"2019","journal-title":"Int. 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