Formal Specifications of Sequential Control for Training Machines for the Lower Limbs
REIMS UNIV CHAMPAGNE ARDENNE (FRANCE) LABORATORIE D'AUTOMATIQUE ET DE MICRO-ELECTRONIQUE
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This paper presents a generic formal model for the specification and design of the sequential control for lower-limbs training machines. An object extension of Statecharts is used as a modeling formalism. The resulting hybrid and hierarchical control system interprets the required training specifications for a particular user to execute the corresponding sequence of switching position, speed and force control laws.
- Medicine and Medical Research