Control of an Ankle Joint with Classic Control Techniques

Abstract:

This article describes the process of designing four classic control strategies, for the control of tracking angular position during the marching phases humanof an ankle joint, which wasmodeled at the Northern Technical University insided the projects research biological signals of the Smart Systems Research Group, considerándoheait’sa moderate march type 1. First, it was necessary to obtain the model of the joint for which an identification of the dynamics was carried out, with the data obtained from the angular position during the march; creating, using software, a mathematical model that represents the simulated mechanical model. Subsequently, the control strategies that allowed to analyze the behavior of the joint were designed and after some modifications, which will be described, the one that best fits the objective was obtained control.

Año de publicación:

2020

Keywords:

• Ankle
• mathematical model
• Classic control

Fuente:

scopus