A Generalized Proportional Integral Controller for an Ankle Rehabilitation Machine Based on an XY Table

Author

Blanco-Ortega, A. ; Gomez-Becerra, F.A. ; Valdes, L. G. Vela ; Arcega, R. O. Delgado

Author_Institution

Centro Nac. de Investig. y Desarrollo Tecnol., Cuernavaca, Mexico

fYear

2013

fDate

19-22 Nov. 2013

Firstpage

152

Lastpage

157

Abstract

This paper addresses the design and implementation of a Generalized Proportional Integral (GPI) controller for ankle rehabilitation based on an XY table. The horizontal linear guide provide the abduction/adduction motion and the vertical linear guide provide the dorsiflexión/plantarflexión motion. The ankle rehabilitation machine is of Continuous Passive Motion kind and it be able to perform single and combined movements. Some numerical and experimental results are included to illustrate the dynamic performance of the GPI controller.

Keywords

PI control; biomedical equipment; controllers; medical control systems; motion control; patient rehabilitation; GPI controller; XY table; abduction-adduction motion; ankle rehabilitation machine; continuous passive motion; dorsiflexion-plantarflexion motion; dynamic performance; generalized proportional integral controller; horizontal linear guide; vertical linear guide; Foot; Force; Mathematical model; Muscles; Polynomials; Prototypes; Trajectory; Control; Generalized Proportional Integral; Passive Motion; ankle rehabilitation machine;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2013 International Conference on

Conference_Location

Morelos

Print_ISBN

978-1-4799-2252-9

Type

conf

DOI

10.1109/ICMEAE.2013.24

Filename

6713971