Caracterización y Control de un Sistema Rehabilitador de Tobillo

Abstract

In this project the implementation of a Residence Act proportional integral derivative (PID) with a desired trajectories Rehabilitador Ankle presented, adapting the type of Continuous Passive Motion (MPC). The desired trajectories are generated by Bezier function of tenth order for a number of cycles n. The Rehabilitator is controlled from Labview® and fed with a voltage source TENMA, to send and receive data control the servomotor of the rehabilitation must be connected to two control cards, NIDAQ 6008 to send and receive control signals and card Pololu Jrk to amplify the signal received by the NI DAQ 6008 signal. Data acquisition is presented in real time made with NIDAQ 6008 and Labview® card, this in order to make an identification system with Matlab ® and get the transfer function of second order. Finally, a user interface made in Labview ® is presented for handling Ankle Rehabilitador within the general characteristics are 4 submenus receive instructions for operating the type of passive movement required.