A Generalized Proportional Integral Controller for an Ankle Rehabilitation Machine Based on an XY Table

This paper addresses the design and implementation of a Generalized Proportional Integral (GPI) controller for ankle rehabilitation based on an XY table. The horizontal linear guide provide the abduction/adduction motion and the vertical linear guide provide the dorsiflexion/plantarflexion motion. The ankle rehabilitation machine is of Continuous Passive Motion kind and it be able to perform single and combined movements. Some numerical and experimental results are included to illustrate the dynamic performance of the GPI controller.