PID Controller Design for Human Elbow Therapy

Year 2016, Special Issue (2016), 282 - 285, 01.12.2016

İkbal Eski Ahmet Kirnap Mehmet Kirnap

https://doi.org/10.18100/ijamec.270495

Abstract

A controller design for mechatronic system which capable of doing  passive therapeutic exercises of patients who
have upper extremity limitation is presented in this paper. Expectation from
controller is it should produce torque values can exactly repeat degree values
depended on time which were taken from first therapy exercises of patients. The
designed controller tested with real angle values which was  taken from during elbow therapy. Simulation
results showed that the proposed control system has good performance at  tracking the therapy trajectory.  Also that control system may be used for
mechatronic upper limb therapy system which can be produced.

Keywords

Controller design, limitation at human joints, therapeutic exercises, therapy system

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