Abstract
This paper presents a load control method based on PIC microcomputer for a training machine suited to elderly people. The training machine allows the elderly people to maintain their physical ability through exercise close to ordinary motion that appears in daily life such as extending or flexing legs. The system configuration of the training machine and the muscle stiffness sensor used for human machine interface are described. The hardware and software of the motor controller based on PIC microcomputer are introduced and the load control method with the control function of reverse current is proposed. Several experiments are conducted to evaluate the training system and the results indicate the effectiveness of the control system.
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