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.
PID controller design and comparison between two different gain parameter adjustment method for autonomous physical rehabilitation device is presented in this paper. This device will be capable of doing repeated therapeutic exercises of shoulder joint. That devices main objective is reducing physiotherapist work load. The controllers tested with real angel values. Comparison of simulation results showed Ziegler_Nichols adjustment method has better performance than Matlab's auto-tune method.
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