Proyecto UAEM 4793/2019CIB

Wrist rehabilitation cables-driven-tensegrity-system

 

This project focuses on the development and implementation of a supination-pronation forearm and wrist rehabilitator. The system can adjust its global stiffness in order to satisfy rehabilitation requirements when performing trajectory tracking or regulation tasks. Two control schemes have been successfully validated: 1) PD+PID control, and 2) SMC Super Twisting strategy. New control strategies can be designed and tested on the experimental platform of the rehabilitator. Moreover, unmodeled dynamics are currently being characterized to be included in a new mathematical model.