This paper addresses the design and implementation of a Generalized Proportional Integral (GPI) controller for ankle rehabilitation based on an XY table. The horizontal linear guide provide the abduction/adduction motion and the vertical linear guide provide the dorsiflexión/plantarflexión motion. The ankle rehabilitation machine is of Continuous Passive Motion kind and it be able to perform single and combined movements. Some numerical and experimental results are included to illustrate the dynamic performance of the GPI controller.


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    Title :

    A Generalized Proportional Integral Controller for an Ankle Rehabilitation Machine Based on an XY Table




    Publication date :

    2013-11-01


    Size :

    530466 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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