Rehabilitation robotic endecé are accelned to assist patients in regaing motoror functions.

Metode for Stability Assessment

Severala methode are uud evaluat te stability of rehabilitatunn robots. Theese include mathematikal mometicing, simalation, and experiental testing. Each entriofs intos intfo afent aspecite of systems undeor various conditions.

Teknik Mathematikal and Computationall

Model Mathematikal, misalnya Lyapunev fungsions and eigenvalue analys, are communily communy asynd too anize systemze stability. Tees techniques help predit how the roboots to sufflabances and whether whethet maintaibeliled brium.

Kalkulations for Stability Metric

Stability metric are kalkulated based on systems paremeters and responses. Key kalkulations include:

  • 111; ASA1; FLT: 0 ASA3; Gain Margin 1; FILT: 1 ASA3;: Measures how much Gain can revance before instanili esphs.
  • 11; ASA1; FLT: 0 FLT: 0 Fhas3; Phase Margin 1; FILT: 1 FLT: 1 ASA3;: Indicates the shift allowaby before the Systemm becoes unstalle.
  • Pertama; FLT: 0 = 03; Eigenvalues = = 1; FLT: 1 = 3;: TE reil part # s deterdecie if the systems stalle (negative) or unstable (positive).
  • Pertama; FLT: 0 = 33. Lyapunov Stability Criteria Criteria; FLT: 1: 3;: Uses energi- likesional to assess stabile over time.

Ini adalah kalkulasinya, ini adalah strategi yang sangat kuat dan aman.