Modeling and simulating a robotic system for upper-limb rehabilitation

A. Miranda Cid, H. Y. Hernández Acosta, A. T. Velázquez Sánchez, G. M. Urriolagoitia Calderón, A. A. Castro Vicente, E. H. Méndez Ramírez

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaEngineering Solutions for Intensification of Production
EditorialTrans Tech Publications Ltd
Páginas286-293
Número de páginas8
ISBN (versión impresa)9783038350354
DOI
EstadoPublicada - 2014
Evento2014 2nd International Conference on Manufacturing Engineering and Technology for Manufacturing Growth, METMG 2014 - Miami, FL, Estados Unidos
Duración: 20 ene. 201421 ene. 2014

Serie de la publicación

NombreAdvanced Materials Research
Volumen902
ISSN (versión impresa)1022-6680

Conferencia

Conferencia2014 2nd International Conference on Manufacturing Engineering and Technology for Manufacturing Growth, METMG 2014
País/TerritorioEstados Unidos
CiudadMiami, FL
Período20/01/1421/01/14

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