Controle de um triciclo assistido estático para reabilitação

Abstract

The LESC (Computer Systems Engineering Laboratory) is used by students, professors and researchers to develop experimental teaching, research and extension activities. Among the equipment provided is a tricycle used for rehabilitation of leg movements. However, the lack of technological equipment for precise and centralized control of the tricycle means that the equipment is not used to its full potential. Therefore, the main motivation of this project is to use knowledge from the area of automation and control. Therefore, this work aims to develop a control system for a static assisted tricycle for rehabilitation that uses a frequency inverter, model CFW100 from the manufacturer WEG, which is responsible for driving and controlling a threephase AC motor from WEG, and an ESP32 microcontroller to communicate between a mobile application and the frequency inverter. The communication uses the Modbus RTU protocol and the RS485 physical media standard. The objective of this project is to provide a mobile application that can operate the tricycle remotely, making it easy for users to use, with an intuitive interface, and for the system to have high performance, with satisfactory response times and a high level of safety and reliability. The project combined knowledge of automation, control, and embedded systems engineering. Based on the research, the results obtained indicate that the system meets the proposed objectives and can be considered easy to use, safe, and reliable, making it an efficient, safe, and accessible technology for rehabilitation. The developed system offers an innovative platform combining precise control of rehabilitation equipment through a mobile application. Future improvements include code optimization, constant improvements to the interface, use of batteries to improve energy efficiency, and integration with IoT.