Design of a Control System for an Elbow Joint Motion Simulator

An elbow joint motion simulator provides the ability to derive various measures from cadaveric elbow specimens such as the kinematic effects of radial head prostheses and ligament strains. To ensure that the data collected is meaningful, the system must be able actuate the elbow through chosen displacements in a repeatable manner. A control system is developed in this thesis capable of performing this task. Linear positioners which create motion by applying loads through the brachialis, triceps, biceps, and pronator teres move the arm through flexion / extension or pronation / supination movements. Sensors measure loading and displacement states enabling the use of proportional-integral-derivative feedback control. Results indicate the system's capability. Suggestions for future work are given