Intelligent passive control for lower limb rehabilitation system

Ming Shium Hsieh, Chin Sheng Chen, Kuan Sheng Chien

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


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 languageEnglish
Pages (from-to)1023-1033
Number of pages11
JournalTransactions of the Canadian Society for Mechanical Engineering
Issue number3
Publication statusPublished - 2013


  • CPM machine
  • Disturbance and uncertainty
  • Estimator
  • Intelligent sliding-mode

ASJC Scopus subject areas

  • Mechanical Engineering


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