Intelligent passive control for lower limb rehabilitation system

Ming Shium Hsieh; Chin Sheng Chen; Kuan Sheng Chien

doi:10.1139/tcsme-2013-0088

Intelligent passive control for lower limb rehabilitation system

Ming Shium Hsieh, Chin Sheng Chen, Kuan Sheng Chien

Department of Orthopedics

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

This paper proposes the design and control of continuous passive motion (CPM) machine based on constraint-induced movement therapy (CIMT). First, the dynamic model of the CPM machine is derived for further controller design by the principal of virtual work. Then, an intelligent sliding-mode control (ISMC) system which involved recurrent Hermite neural network (RHNN) estimator to estimate the unknown external disturbance and uncertainty is proposed to track the angular position and velocity of the CPM machine.

Original language	English
Pages (from-to)	1023-1033
Number of pages	11
Journal	Transactions of the Canadian Society for Mechanical Engineering
Volume	37
Issue number	3
DOIs	https://doi.org/10.1139/tcsme-2013-0088
Publication status	Published - 2013

Keywords

CPM machine
Disturbance and uncertainty
Estimator
Intelligent sliding-mode

ASJC Scopus subject areas

Mechanical Engineering

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10.1139/tcsme-2013-0088

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AB - This paper proposes the design and control of continuous passive motion (CPM) machine based on constraint-induced movement therapy (CIMT). First, the dynamic model of the CPM machine is derived for further controller design by the principal of virtual work. Then, an intelligent sliding-mode control (ISMC) system which involved recurrent Hermite neural network (RHNN) estimator to estimate the unknown external disturbance and uncertainty is proposed to track the angular position and velocity of the CPM machine.

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KW - Estimator

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Intelligent passive control for lower limb rehabilitation system

Abstract

Keywords

ASJC Scopus subject areas

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