POSITION-BASED MOTION CONTROLLER

摘要

An isokinetic exercise system (10) includes an active exercise resistance unit (11) and a computer controller (50). The active exercise resistance unit includes a lever arm assembly (14) attached to a motor (17), and a patient attachment cuff (15) is slidingly mounted to the lever arm assembly. A potentiometer (52) is used to determine the length of the patient's limb, and a potentiometer/optical encoder assembly (108) is used to determine the angular position of the lever arm assembly as the limb is exercised. A strain gauge assembly (75) is used to determine the torque applied to the lever arm assembly. The limb length, position and torque values are converted into digital form and supplied to a computer. The computer accepts selected velocity and maximum torque value from the operator and uses these values to control the velocity of and torque applied to the lever arm assembly. More specifically, the computer predicts a subsequent lever arm angular position based on the set velocity.