Impedance control focused on physiotherapeutic exercises applied to revolute joint actuated by bowden cables

Abstract

This project aims the development of an impedance control algorithm to be implemented on an exoskeleton for the performance of passive, active, active-assisted and active-resistance physiotherapeutic exercises. The algorithm elaboration will be based on the working principle of the ETMICAE exoskeleton (Exoesqueleto de Tronco e Membros Inferiores para Caminhada Autônoma Estável), developed by the Biomecatronic Laboratory of the Polytechnic School of USP. Unlike most robotic exoskeletons, the ETMICAE actuation is done by pulling cables (bowden cables), resulting in an improved versatility for the actuators location and, by consequence, reducing the weight of the masses in balance. Thus, an experimental workbench will be constructed for the algorithm application. The workbench will be formed by a modular rotating joint that reproduces the cable driven. The control algorithm will be applied to the workbench for tests and execution of physiotherapeutic exercises. The project will serve as a basis for future implementation in the exoskeleton, which will have two functionalities: gait assistance and physiotherapeutic rehabilitation. (AU)