Formal specifications of sequential control for training machines for the lower limbs

Author

Zaytoon, J. ; Moughamir, S. ; Manamanni, N. ; Afflal, L. ; Angelloz, L.

Author_Institution

Lab. d´´Automatique et de Microelectronique, Univ. of Reims, France

Volume

4

fYear

2001

fDate

2001

Firstpage

3468

Abstract

This paper presents a generic formal model for the specification and design of the sequential control for lower-limbs training machines. An object extension or Statecharts is used as a modeling formalism. The resulting hybrid and hierarchical control system interprets the required training specifications for a particular user to execute the corresponding sequence of switching (position, speed and force) control laws.

Keywords

biomechanics; force control; medical control systems; modelling; patient rehabilitation; position control; training; velocity control; generic formal model; hierarchical control; lower-limbs training machines; modeling formalism; object design; object extension; rehabilitation machines; statecharts; switching control laws; switching sequence; Analytical models; Control system synthesis; Control systems; Force control; Force measurement; Formal specifications; Management training; Muscles; Process design; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE

ISSN

1094-687X

Print_ISBN

0-7803-7211-5

Type

conf

DOI

10.1109/IEMBS.2001.1019577

Filename

1019577