Dynamic Modeling of a Rehabilitation Equipment
Journal Title: RECENT - Year 2011, Vol 12, Issue 33
Abstract
In this article it has been studied a rehabilitation equipment behavior, by means of dynamic modeling. The software used is Matlab R2008b, with SimMechanics module. The SimMechanics dynamic model is composed of a mechanical system, driven by a linear actuator and controlled by a PID controller. The equipment simulation in real time is observed in Virtual Reality environment. For designing the mechanical structure model first is established the mass and moment of inertia of each element of the mechanism. After that are established the degrees of freedom and constraints, and attached coordinate systems to each item. Then are introduced the actuators, sensors for measuring movements are set, and the final step is starting the simulation. The SimMechanics dynamic model of the knee and hip rehabilitation equipment provides a real functioning and accurate graphs of the angle amplitude.
Authors and Affiliations
Ioana PETRE
Keywords
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