TY - GEN
T1 - Modeling and simulating a robotic system for upper-limb rehabilitation
AU - Cid, A. Miranda
AU - Hernández Acosta, H. Y.
AU - Velázquez Sánchez, A. T.
AU - Urriolagoitia Calderón, G. M.
AU - Castro Vicente, A. A.
AU - Méndez Ramírez, E. H.
PY - 2014
Y1 - 2014
N2 - In this paper, we present a virtual prototype for a Upper-Limb Rehabilitation Robotic System is review, where the conflict of stability for a non-linear system its implemented, using as a model a double inverted pendulum and its response in Matlab - SimMechanics. It demonstrates the ability and ease of using new computerized tools where simulation and modeling of a system becomes an important utility to understand control concepts and carry them out in a controlled environment, it also can be of great help ensuring the complete characterization of a system, in which it can also result in experimental results. A soft trajectory follower PID controller is implemented to provide individual rehabilitation movements in a 2 DoF robotic system.
AB - In this paper, we present a virtual prototype for a Upper-Limb Rehabilitation Robotic System is review, where the conflict of stability for a non-linear system its implemented, using as a model a double inverted pendulum and its response in Matlab - SimMechanics. It demonstrates the ability and ease of using new computerized tools where simulation and modeling of a system becomes an important utility to understand control concepts and carry them out in a controlled environment, it also can be of great help ensuring the complete characterization of a system, in which it can also result in experimental results. A soft trajectory follower PID controller is implemented to provide individual rehabilitation movements in a 2 DoF robotic system.
KW - Double inverted pendulum
KW - Rehabilitation
KW - Simmechancis
KW - Simulation
KW - Stabilization
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=84896083191&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/amr.902.286
DO - 10.4028/www.scientific.net/amr.902.286
M3 - Contribución a la conferencia
SN - 9783038350354
T3 - Advanced Materials Research
SP - 286
EP - 293
BT - Engineering Solutions for Intensification of Production
PB - Trans Tech Publications Ltd
T2 - 2014 2nd International Conference on Manufacturing Engineering and Technology for Manufacturing Growth, METMG 2014
Y2 - 20 January 2014 through 21 January 2014
ER -