A Hardware-in-the-loop Simulation Study of a Mechatronic System for Anterior Cruciate Ligament Injuries Rehabilitation

Juan C. Yepes, A. J. Saldarriaga, Jorge M. Vélez, Vera Z. Pérez, Manuel J. Betancur

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

One of the main ligaments of the knee is the Anterior Cruciate Ligament (ACL), which is critical to maintain stability and regular gait patterns. Moreover, the knee is the most complex and largest joint in the human body. There are many traditional methods and devices to assist therapy. Nevertheless, there are several research studies in robotic platforms for lower limb rehabilitation. This paper presents a hardware-in-the-loop (HIL) simulation of a movement control algorithm for mechatronic-assisted rehabilitation based on exercises and movements associated with therapies for ACL injuries. The implementation of the algorithm was conducted using a computational model in order to test the mechatronic system Nukawa without having to use the actual robot. Several tests were performed in order to validate the mathematical model of Nukawa. In order to assess whether the implemented HIL simulator works properly for ACL rehabilitation exercises, a physiotherapist performed six exercises and the movements were recorded with a commercial acquisition device, these trajectories were conducted to the HIL simulator. The Integral-Square-Error (ISE) was computed for each test, and since it was small, it may be despised. Therefore, the motion control algorithm is able to manipulate the three joints at the same time, hence it is possible to follow specific trajectories. In addition, the mean execution time M = 11.5 ms and the standard deviation SD = 3.9 taken by the controller is smaller than the sampling period, therefore we proposed that this system can be tested in real-time, without notable delays related to the movement control algorithm.

Idioma originalInglés
Título de la publicación alojadaBIODEVICES 2017 - 10th International Conference on Biomedical Electronics and Devices, Proceedings; Part of 10th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2017
EditoresNathalia Peixoto, Ana Fred, Hugo Gamboa, Mario Vaz
EditorialSciTePress
Páginas69-80
Número de páginas12
ISBN (versión digital)9789897582165
DOI
EstadoPublicada - 2017
Publicado de forma externa
Evento10th International Conference on Biomedical Electronics and Devices, BIODEVICES 2017 - Part of 10th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2017 - Porto, Portugal
Duración: 21 feb. 201723 feb. 2017

Serie de la publicación

NombreBIODEVICES 2017 - 10th International Conference on Biomedical Electronics and Devices, Proceedings; Part of 10th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2017
Volumen2017-January

Conferencia

Conferencia10th International Conference on Biomedical Electronics and Devices, BIODEVICES 2017 - Part of 10th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2017
País/TerritorioPortugal
CiudadPorto
Período21/02/1723/02/17

Nota bibliográfica

Publisher Copyright:
Copyright © 2017 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved ACL injuries occur mostly during sports (in 89.3% of cases), being males with age between 18 and 30 years the most affected (Li and Ng, 2004). Nevertheless, women experience ACL tears nine times more often than men, studies have shown a 1.4 to 9.5 times increased risk of ACL tear in women (Cimino et al., 2010).

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