Ejercicios de Rehabilitación Pasiva con Prototipo Rehabilitador de Tobillo Basado en una Estructura de Robot Paralelo (Passive Rehabilitation Exercises with an Ankle Rehabilitation Prototype Based in a Robot Parallel Structure)

Wilberth Melchor Alcocer Rosado (wilberth@cenidet.edu.mx)1, Luis Gerardo Vela Valdés (velaluis@cenidet.edu.mx)1, Andrés Blanco Ortega (andres.blanco@cenidet.edu.mx)1, José Ruiz Ascencio (josera@cenidet.edu.mx)1, Carlos Daniel García Beltrán (cgarcia@cenidet.edu.mx)1


1Centro Nacional de Investigación y Desarrollo Tecnológico

This paper appears in: Revista IEEE América Latina

Publication Date: Jan. 2017
Volume: 15,   Issue: 1 
ISSN: 1548-0992


Abstract:
In this paper the implementation of PID controllers for the development of passive rehabilitation exercises are presented. For which it is designed and built an ankle rehabilitation prototype based on a structure of parallel robot with a mechanism of the type 2-RRSP (two closed kinematic chains and consisting of joints: revolute-revolute-sphere in slot- fixed post with sphere). Free software is used to develop the computer programs associated with rehabilitation exercises. Regarding the laboratory testing stage, the results of passive exercises are reported, in these exercises path planning is included and PID control is used, for inversion-eversion, dorsal-plantar flexion and combined movements.

Index Terms:
PID controller, passive rehabilitation, ankle rehabilitation prototype, parallel robot, path planning   


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