Control of a virtual prototype of an ankle rehabilitation machine

Abstract

In this paper a virtual prototype for ankle rehabilitation which provides the whole range of ankle related foot movements is presented. Mathematical models of 1 and 2 degrees of freedom are presented for the dynamic of a single motion and the combination of two movements, respectively. The controllers proposed are a PID control for a single motion and a computed torque control for the combination of two movements. These controllers are designed with trajectory tracking task to provide smooth movements of rehabilitation in a single motion or the combination of two movements. Some simulation results using the mathematical model are presented and compared with the obtained from the virtual prototype simulated under the ADAMS environment.