Dynamics and controls of a physiotherapy robot
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Abstract (EN)
With this Project, it was aimed to design and control the robot-arm to be used in lower extremity rehabilitations with purpose of helping the physiotherapists in rehabilitation process. Within the scope of Project, a mechanism with 3 degrees of freedom, and being able to perform "flexion-extension" movements in knee, "flexion-extension" movements and "abduction-adduction" movements in hip and being able to be adjusted in length was designed. For controlling the designed system, the control algorithms structure working information- and rule-based was developed. As control techniques, PID, fuzzy logic, and Adaptive PID type Fuzzy Logic Management techniques were used for rehabilitationpurposed robots. Key Words: Rehabilitation Robots, Physiotherapy, Control, Adaptive Control
Author
Efraim Kılıçerkan
How to Cite
Efraim Kılıçerkan (Master Thesis). Dynamics and controls of a physiotherapy robot, 2013, Fırat University.
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