Simulation of a control method for active kinesiotherapy with an upper extremity rehabilitation exoskeleton without force sensor

Table 3 Test cases for experimental adjustment for PID settings (\(J_m\) - value of the modelled J parameter, \(J_r\) - value of the real-life J parameter, \(B_m\) - value of the modelled B parameter, \(B_r\) - value of the real-life B parameter, \(max\left( t_r\right) \ [s]\) - maximum value of the regulation times, \(\sigma ^*(Q)\ [\left( m\cdot kg\right) ^{-1}]\) - average deviation from the \(\overline{Q}\) in the acceptable range, \(max\left( \omega \right)\) - maximum measured angular velocity [rad/s])

No.	Input signal	P	I	D	\(J_r\)	\(J_m\)	\(B_r\)	\(B_m\)	\(Max\,\left( t_r\right)\)	\(\sigma ^*\left( Q\right)\)	\(Max\,\left( \omega \right)\)
1	Sinus	2	0.4	1	0.35	0.7	0.6	0.55	0.04	0.206	4.77
2	Sinus	10	0.4	1	0.35	0.7	0.6	0.55	0.06	0.384	6.84
3	Sinus	2	0.4	10	0.35	0.7	0.6	0.55	0.04	0.246	6.28
4	Non-periodical	2	0.4	1	0.35	0.7	0.6	0.55	0.11	0.431	7.08
5	Non-periodical	10	0.4	1	0.35	0.7	0.6	0.55	0.36	0.890	9.78
6	Non-periodical	2	0.4	10	0.35	0.7	0.6	0.55	0.18	0.690	9.22
7	Sinus	2	0.4	1	0.35	1.05	0.6	0.55	0.03	0.098	2.84
8	Sinus	10	0.4	1	0.35	1.05	0.6	0.55	0.03	0.120	3.50
9	Sinus	2	0.4	10	0.35	1.05	0.6	0.55	0.03	0.090	3.34
10	Non-periodical	2	0.4	1	0.35	1.05	0.6	0.55	0.06	0.171	4.18
11	Non-periodical	10	0.4	1	0.35	1.05	0.6	0.55	0.20	0.301	5.05
12	Non-periodical	2	0.4	10	0.35	1.05	0.6	0.55	0.12	0.258	4.88
13	Sinus	2	0.4	1	0.35	1.4	0.6	0.55	0.03	0.065	2.02
14	Sinus	10	0.4	1	0.35	1.4	0.6	0.55	0.02	0.062	2.36
15	Sinus	2	0.4	10	0.35	1.4	0.6	0.55	0.02	0.051	2.27
16	Non-periodical	2	0.4	1	0.35	1.4	0.6	0.55	0.03	0.089	2.97
17	Non-periodical	10	0.4	1	0.35	1.4	0.6	0.55	0.13	0.150	3.40
18	Non-periodical	2	0.4	10	0.35	1.4	0.6	0.55	0.07	0.137	3.31

ISSN: 1743-0003