کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
699084 890695 2013 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Reactive torque monitoring and cycling speed control of a belt-driven cycle ergometer
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Reactive torque monitoring and cycling speed control of a belt-driven cycle ergometer
چکیده انگلیسی

The lower limb cycle ergometer driven by a motor is a typical rehabilitation-assistive device for hemiparetic patients with abnormal muscle tone in their lower limbs. Since unusual muscle tone may cause excessive spasticity during rehabilitation, it is important to monitor reactive torques produced primarily by the abnormal muscle tone. Thus, this study investigated a state observer design applied to a belt-driven ergometer, where the motor current and position information were used to estimate reliable reactive torque. A dual feedback control loop was proposed to improve the resonance caused by the belt-driven structure and stabilize the cycling speed in the cycle rehabilitated device; meanwhile, the impedance model constructed by the feedback control loop is presented to generate the compliance characteristic for stably and gently controlling the speed response affected by reactive torque. Simulation and experiments of the belt-driven ergometer were conducted with results validating the effectiveness of the proposed control scheme in terms of stable cycle speed and observer performance.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 21, Issue 11, November 2013, Pages 1564–1576
نویسندگان
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