Simulation of control and synthesis of a constrained movement towards rehabilitation exercises

摘要: Most human activities involve the mechanical interaction of body with environment, or objects in environment. The intentional usually involves making contact, breaking maintaining contact and applying desirable forces, passively responding to external forces. A control strategy is explored here that may be a feasible one natural systems. Philosophically, this similar ones puppets marionettes. method applied cranking mechanism pedaling bicycle. Two applications are presented ability provide exercises rehabilitation. dynamics two-link thigh leg model pedal formulated. pedal, turn, activates rotating passive load, made inertial, viscous elastic components. At between foot forces as well trajectory controlled. Piecewise linear inputs adequate for exercise. performance system some disorders analyzed by simulation.