선형구동기를 적용한 상지재활훈련기의 제어

This paper proposes a control system for the Dongeui Upper-Limb EXerciser (DULEX-II) using linear actuators. DULEX - II is possible to exercise flexion and extension of finger and wrist by using two types of linear actuators: an electric motor type actuator for finger and a double-acting cylinder actuated by air-pressure for wrist. In experiments we perform position control of actuators for wrist and finger motions. The experimental results show the designed control system is feasible for DULEX - II.