Gain Parameter Adjustment Methods Comparison of Controller for Autonomous Rehabilitation Device

Year 2016, , 286 - 289, 01.12.2016

İkbal Eski Ahmet Kirnap

https://doi.org/10.18100/ijamec.270499

Abstract

PID controller design and comparison between two different gain
parameter adjustment method for autonomous physical rehabilitation device is
presented in this paper. This device will be capable of doing repeated
therapeutic exercises of shoulder joint. That devices main objective  is reducing physiotherapist work load. The
controllers tested with real angel values. Comparison of simulation results
showed Ziegler_Nichols adjustment method has better performance than Matlab's
auto-tune method.

Keywords

PID controller, passive exercises, rehabilitation, autonomous control

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