Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
EVALUATION OF CONTROL TECHNIQUES ASSOCIATED TO AN ESTIMATOR OF THE HUMAN ELBOW MOVEMENT
Submission Author:
Rafael da Silva Figueiredo , RJ
Co-Authors:
Rafael da Silva Figueiredo, Luciano Santos Constantin Raptopoulos, Waltencir Andrade, Guilherme Amaral do Prado Campos, Elkin Veslin, Max Suell Dutra, Fabrício Lopes e Silva
Presenter: Rafael da Silva Figueiredo
doi://10.26678/ABCM.COBEM2019.COB2019-2200
Abstract
In the current work, performance evaluation for some control techniques is presented considering its application in an intelligent prosthesis. The challenge consists basically of an output-reference tracking problem, where the device must perform a trajectory based on a reference input signal. A dynamic model of a bench prototype was developed, as well as its movement estimator, an artificial neural network (ANN) that generates the reference trajectory based on electromyographic (EMG) signals. The chosen control methods were the computed torque and the proportional-integralderivative (PID), both vastly used for a variety of purposes, as well as a novel control paradigm called Active Disturbance Rejection Controller (ADRC).
Keywords
Intelligent Assistive Technology, Control System, Movement Estimator, Artificial neural networks, EMG signals
