Intelligent Sliding-Mode Control for Knee Rehabilitation System

Ming Shium Hsieh; Chin Sheng Chen; Kuan Sheng Chien

doi:10.4028/www.scientific.net/AMM.284-287.2249

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Extension of Elementary Siphons in a Class of Generalized Petri Nets
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Fuzzy Simplex-Type Sliding-Mode Control
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Intelligent Sliding-Mode Control for Knee Rehabilitation System
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 284-287Intelligent Sliding-Mode Control for Knee...

Intelligent Sliding-Mode Control for Knee Rehabilitation System

Abstract:

In this paper, we present the design and control of continuous passive motion (CPM) machine based on Constraint-Induced Movement Therapy (CIMT) for a patient who needs knee rehabilitation. First, the dynamic model of the CPM machine is derived by the principal of virtual work in dynamics. Then, an intelligent sliding-mode control (ISMC) system which involved recurrent Chebyshev neural network (RCNN) estimator to estimate the unknown external disturbance and uncertainty online is proposed to track the angular position and velocity of the CPM machine. Furthermore, we prove that the proposed ISMC system is asymptotically stable via Lyapunov theory. Finally, the experimental results are illustrated to demonstrate that the ISMC system can effectively reduce chattering phenomenon and precisely track reference trajectory of the CPM machine.