An apparatus was designed to rehabilitate
human knee joint besdies evaluating the strength of the joint. The
apparatus is a dynamometer which measure the knee joint torque for
clinical purposes and include driven force system (servo motor), power
transmission system (timing belt), control system (speed controller and
sensors), instrumentation system (sensors, amplifier, filtering and
interfacing) and safety system (microswitchs). The resistance torque
induced by the servo motor is controlled by the speed driver based on
the clinical protocol, i.e., isometric or isokinetic. In each algorithm
of control, speed set point is calculated based on torque feedback
proportional to the desired resistance. In the instrumentation system,
position, velocity and torque of the knee joint is measured and
displayed in a PC after proper signal conditioning. Monitoring and
controlling was done by simulink environment of Matlab software using
real time windows target toolbox.
M.
Parnianpour
,
Gh. Vosoughi
A. Gandomi
Nejad