Modeling and Simulating a Robotic System for Upper-Limb Rehabilitation

Abstract:

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.

• Periodical: Advanced Materials Research (Volume 902)
• Pages: 286-293
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.902.286
• Online since: February 2014
• Authors: A. Miranda Cid, H.Y. Hernández Acosta, A.T. Velázquez Sánchez, G.M. Urriolagoitia Calderón, A.A. Castro Vicente, E.H. Méndez Ramírez
• Keywords: Double Inverted Pendulum, Rehabilitation, SimMechancis, Simulation, Stabilization, Underactuated System

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