Real-Time Control for Hand Rehabilitation using Beckhoff IPC and Simulink-to-TwinCAT Workflow Beckhoff EPC ve Simulink-to-TwinCAT Dönüşümü ile El Rehabilitasyonu için Gerçek Zamanli Kontrol
34th Signal Processing and Communications Applications Conference, SIU 2026, İstanbul, Türkiye, 7 - 10 Temmuz 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/siu71813.2026.11636451
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: Beckhoff IPC, CAN bus, MATLAB/Simulink, physical human-robot interaction, TwinCAT 3
- Ankara Üniversitesi Adresli: Evet
Özet
Robotic hand rehabilitation systems are essential for motor learning and functional recovery following stroke. Safe physical human-robot interaction (pHRI) demands a deterministic, low-latency control loop. This paper presents a real-time control architecture for a four-DOF two-finger exoskeleton paired with a pinch-force manipulandum. The architecture centres on a Beckhoff Industrial PC (IPC) executing a 1 ms control cycle under TwinCAT 3, communicating with four BLDC servo drives via CANopen over CAN bus. Compared to a conventional PWM-and-encoder approach, the CANopen topology consolidates velocity commands, position feedback, and torque sensing onto a single bus, reducing wiring complexity, EMI susceptibility, and hardware failure points. Control logic - admittance control, inverse kinematics, and torque estimation - is designed in MATLAB/Simulink and compiled into TwinCAT C++ modules via the TE1400 toolchain, eliminating manual coding and accelerating deployment to hardware.