PID Controller Design for Human Elbow Therapy

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

References

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