A control strategy for ergometry cycling in rehabilitation robots

This paper presents the development of a strategy for cyclical motion control by controlling the torques of the lower limb joints. A humanoid with a rehabilitation bicycle model is developed with Visual Nastran software and used with Matlab/Simulink to test and verify the developed strategy. Six closed loop PID controllers are developed and used to achieve the desired leg joint trajectories, with different positions for the crank. Analyses are carried out at different locations of the pedals, and simulation results verifying the control strategy are presented and discussed.