Control of a virtual prototype of an ankle rehabilitation machine

Authors

  • Andrés Blanco Ortega National Center for Research and Technological Development https://orcid.org/0000-0002-0088-6863
  • René Fabián Vázquez Bautista University of Veracruz
  • Gerardo Vela-Váldes National Center for Research and Technological Development
  • Enrique Quintero Marmol National Center for Research and Technological Development
  • Guadalupe López López National Center for Research and Technological Development https://orcid.org/0000-0003-3831-5174

DOI:

https://doi.org/10.17533/udea.redin.16321

Keywords:

continuous passive motion, computed control torque, ankle rehabilitation machine

Abstract

In this paper a virtual prototype for ankle rehabilitation which provides the whole range of ankle related foot movements is presented. Mathematical models of 1 and 2 degrees of freedom are presented for the dynamic of a single motion and the combination of two movements, respectively. The controllers proposed are a PID control for a single motion and a computed torque control for the combination of two movements. These controllers are designed with trajectory tracking task to provide smooth movements of rehabilitation in a single motion or the combination of two movements. Some simulation results using the mathematical model are presented and compared with the obtained from the virtual prototype simulated under the ADAMS environment.

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Published

2013-08-16

How to Cite

Blanco Ortega, A., Vázquez Bautista, R. F., Vela-Váldes, G., Quintero Marmol, E., & López López, G. (2013). Control of a virtual prototype of an ankle rehabilitation machine. Revista Facultad De Ingeniería Universidad De Antioquia, (67), 183–196. https://doi.org/10.17533/udea.redin.16321

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