In this work a hip rehabilitation machine is presented, for example, for patients who suffered a cerebrovascular accident. The rehabilitation machine has 3 degrees of freedom (DOF) and can provide flexion-extension, abduction-adduction and internal-external rotation movements. A Proportional Derivative (PD) type controller is proposed for trajectory tracking. Simulation results, with the virtual prototype in the MSC Adams environment, show that the PD-type controller can provide smooth passive rehabilitative movements for the hip, with minimal control effort [forces less than 5 N).
Mechatronic System for Hip Rehabilitation
2022-12-05
747832 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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