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

骨科學科

研究成果: 雜誌貢獻 › 文章 › 同行評審

4 引文斯高帕斯（Scopus）

摘要

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.

原文	英語
頁（從 - 到）	1023-1033
頁數	11
期刊	Transactions of the Canadian Society for Mechanical Engineering
卷	37
發行號	3
DOIs	https://doi.org/10.1139/tcsme-2013-0088
出版狀態	已發佈 - 2013

ASJC Scopus subject areas

機械工業

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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 - Disturbance and uncertainty

KW - Estimator

KW - Intelligent sliding-mode

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Intelligent passive control for lower limb rehabilitation system

摘要

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