This is the control model for the video submission titled:
Elbow Rehabilitation Exoskeleton based on bioinspired actuators #MATLABHW2k16

https://youtu.be/Fnw6cQ4kX9A

This model is useful to test how a Bilineal PID controller can be designed using Simulink.
The version provided is compatible from Matlab 2011b to Matlab 2016

Project description: The entire task is based on create an economically affordable elbow exoskeleton intended for rehabilitation purposes, for repetitive movement scenarios.

Exoskeleton operation needs to produce no noise, and its weight needs to be as low as possible. Due to these requirements, and high needed torque, we use a custom developed Shape Memory Alloy based actuators.

The controller is based on a low cost and powerful industrial grade available microcontroller, STM32F4; and the programming and verification/debugging stages are based on Model Based Design paradigm thanks to Matlab/Simulink, that provides a Rapid Control Prototyping scenario.

Control algorithm is based on a Bilineal PID controller, suitable for non linear actuators and require little computational effort.

If you enjoy the presented work, please do like and provide feedback at Youtube!

Thanks for watching (and control model download)!