Título: Control of an Ankle Joint with Classic Techniques in simulation Software.

Autor(es): ALVAREZ ROBALINO DANIEL ALEJANDRO, IGLESIAS NAVARRO IVAN, TOBAR SUBIA CONTENTO LUZ MARIA, VERDEZOTO CARRANCO GABRIELA ALEXANDRA, DIANA JIMENA LÓPEZ

Fecha de publicación: 03-jan-2020

Resumen: 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.

Palabras clave: Classic control Mathematical model Ankle

DOI: https://doi.org/10.1007/978-3-030-37221-7_23

ISSN: 2194-5357

Tipo publicación: Artículo