As medical technology continues to evolve, there is a growing demand for affordable and effective rehabilitation devices, particularly for proprioception training. This project, funded by a Rhode Island Innovation Voucher Grant from RI Commerce, focused on the design, modeling, and control of a prototype device for proprioception training. The device consists of two ball-screw linear stages, each driven by an integrated servo motor. A subject stands with one foot on each stage while the stages move with varying accelerations, velocities, and travel distances under different motion modes, including synchronized, opposing, and random motion profiles.

The project also developed a general methodology for trajectory planning of reciprocating motion in such devices. Using a dynamic model of the system and the motor’s torque–speed characteristics, the methodology generates motion trajectories with triangular or trapezoidal velocity profiles. A simplified implementation of this approach was integrated into the prototype. Experimental testing under various motion rates and loading conditions demonstrated close agreement between predicted and measured motion rates, particularly at frequencies below three cycles per second.

Video Demo

Reference:

M. Schnegas, and M. Jouaneh. 2024. “Trajectory Planning for Reciprocating Motion in Integrated Servo Motor Linear Stages”. Machines, 2024; 12(12):934. https://doi.org/10.3390/machines12120934