The use of inertial measurement units (IMUs) is a low-cost alternative for measuring joint angles. This study aims to present a low-cost open-source measurement system for joint angle estimation. The system is modular and has hardware and software. The hardware was developed using a low-cost IMU and microcontroller. The IMU data analysis software was developed in Python and has three fusion filters: Complementary Filter, Kalman Filter, and Madgwick Filter. Three experiments were performed for the proof of concept of the system. First, we evaluated the knee joint of Lokomat, with a predefined average range of motion (ROM) of 60${}^{\circ }$. In the second, we evaluated our system in a real scenario, evaluating the knee of a healthy adult individual during gait. In the third experiment, we evaluated the software using data from gold standard devices, comparing the results of our software with Ground Truth. In the evaluation of the Lokomat, our system achieved an average ROM of 58.28${}^{\circ }$, and during evaluation in a real scenario it achieved an average ROM of 44.62${}^{\circ }$. In comparing our software with Ground Truth, we achieved a root-mean-square error of 0.04 and a mean average percentage error of 2.95%. These results encourage the use of this system in other scenarios.

The most used approach in the motor rehabilitation of spinal cord injury is functional electrical stimulation. However, current devices do not provide real-time feedback, work in the closed-loop, and became remotely operable. In this scenario, this paper presents the development of an open access 4-channel IoT electrostimulator device with an inertial sensor. The electrostimulator circuit was designed with four modules: Boost Converter, H-bridge, Inertial Measurement Unit, and Processing Module. The firmware was implemented in the processing module to manage the modules to perform closed-loop stimulation (using PID controller). To perform the proof of concept of the device, a closed loop test was performed to control the ankle joint, performing the movements of dorsiflexion, plantar flexion, inversion, and eversion. The designed hardware allowed one to freely change the boost converter voltage and modulate the signal with 200 $\mathsf{\mu }\mathrm{s}$ of pulse duration and 50 Hz of period in a safe and stable way. Furthermore, the controller was able to move the ankle joint in all desired directions following the reference values and respecting the imposed constraints. In general, the developed hardware was able to safely control a closed-loop joint.

A numerical method is proposed to reduce the complexity and computational effort involved in the application of the multiparametric linear programming technique in the design of offline controllers for linear systems subject to constraints. For this purpose, the concept of controlled invariant sets and the K q-flat data cluster analysis algorithm are applied. Specifically, we show how the K q-flat algorithm can be used to establish a smaller number of polyhedral regions associated with a piecewise affine explicit state feedback control law. We also propose a new approach in the design of sub-optimal controllers that further reduce the number of regions. Numerical examples show that a significant reduction in the complexity of the control law can be achieved by the proposed approach.

O trabalho teve como objetivo descrever a experiência acadêmica no curso de Fisioterapia do Projeto Qualidade de Vida para Todos (PQVT), quanto à aproximação para Fisioterapia Aquática. Apresenta-se relatos dos graduandos do curso de fisioterapia que constam no relatório do final PQVT do 1° semestre do ano de 2017. Como resultado tem-se a articulação da tríade ensino, pesquisa e extensão, como possibilidade de aproximar o graduando de Fisioterapia ao ambiente aquático, e enfatizar a importância sobre uma área com diversas possibilidades de atuação.

O trabalho teve como objetivo descrever a experiência acadêmica no curso de Fisioterapia do Projeto Qualidade de Vida para Todos (PQVT), quanto à aproximação para Fisioterapia Aquática. Apresenta-se relatos dos graduandos do curso de fisioterapia que constam no relatório do final PQVT do 1° semestre do ano de 2017. Como resultado tem-se a articulação da tríade ensino, pesquisa e extensão, como possibilidade de aproximar o graduando de Fisioterapia ao ambiente aquático, e enfatizar a importância sobre uma área com diversas possibilidades de atuação.