Modeling and Resonant Attenuation of a Belt-Driven Cycling Device

Jyun-Ci Chen, Po-Wen Hsueh, and Mi-Ching Tsai


Belt-driven cycling device, Two-inertia system model, Acceleration feedback, Speed control


The aim of this study is to develop the control approach of a belt-driven cycling device for lower-limb rehabilitation by providing passive movement therapy training at a stable cycling speed. To achieve stable cycling speed, the speed controller design is based on a two-inertia system model, which is established for the cycling device incorporating the transmission belt. The proposed minimum complexity controller method features a speed control design employing acceleration information feedback to successfully reduce vibration. Simulations and experimental results are presented to validate the feasibility of the proposed control system.

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