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Mechatronic Integration in the Design of Ambulatory Rehabilitation Device

[+] Author Affiliations
Devdas Shetty, Claudio Campana, Lou Manzione

University of Hartford, West Hartford, CT

Avital Fast

Montefiore Medical Center, Albert Einstein College of Medicine, New York, NY

Paper No. IMECE2010-40617, pp. 209-216; 8 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


Increasing demands on the productivity and growing technological complexity will require the application of new methods in the product development process. A smart machine is one that can make decisions about the mechanical motion and respond to the commands in real time. It is possible to arrive at ways of optimizing the design of the structural components, the construction of the feed drives or the controller strategy. The distinguishing feature of mechatronic systems is the achievement of system functionality through intensive integration. That allows a better understanding of the dynamic behavior and interactions of the components. This paper shows that the simulation results from the mechatronic model of the rehabilitation equipment. The rehabilitation device is an apparatus developed with the intent of aiding in the rehabilitation of hospital patients learning to walk again. It is comprised of a gantry system which provides motion in the horizontal (x, y) plane and vertical axis (z). The z axis motion is provided by a hoist motor which is actively controlled using feedback from strain gauge sensors. As the patient walks around within the confines of the room-sized gantry, the hoist will follow the patient around. The closed loop motor control reacts to feedback from multi-axis tilt sensors on the hoist line. If ever the patient were to fall, the hoist system would to keep the patient in place. This paper shows how the sensor is integrated to the system in order to ensure the required control accuracy and precision in combination with enhanced motion dynamics, the interactions between a rehabilitation patient and tilt-sensor, the influence of the control system and the control process.

Copyright © 2010 by ASME



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