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.
|頁（從 - 到）||1023-1033|
|期刊||Transactions of the Canadian Society for Mechanical Engineering|
|出版狀態||已發佈 - 2013|
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