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. 2006;17(6):543-552.
doi: 10.1177/1045389X06059075.

Smart Rehabilitation Devices: Part I - Force Tracking Control

Shufang Dong  1 , Ke-Qian Lu, J Q Sun, Katherine Rudolph
Affiliations

Smart Rehabilitation Devices: Part I - Force Tracking Control

Shufang Dong et al. J Intell Mater Syst Struct. 2006.

Abstract

Resistance exercise has been widely reported to have positive rehabilitation effects for patients with neuromuscular and orthopaedic conditions. This article presents prototypes of smart variable resistance exercise devices using magneto-rheological fluid dampers. An intelligent supervisory control for regulating the resistive force or torque of the device is developed, and is validated both numerically and experimentally. The device provides both isometric and isokinetic strength training for the human joints including knee, elbow, hip, and ankle.

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Figures

Figure 1
Figure 1
A variable resistance knee brace with MR damper.
Figure 2
Figure 2
A versatile rehabilitation device with MR dampers.
Figure 3
Figure 3
Simulation of the step response. Solid line: the desired force. Dashed-line: the actual force.
Figure 4
Figure 4
Simulation of the response to a sinusoidal reference. Solid line: the desired force. Dashed-line: the actual force.
Figure 5
Figure 5
Experimental results of the step response. Solid line: the desired force. Dashed-line: the actual force.
Figure 6
Figure 6
Experimental results of the response to a variable reference. Solid line: the desired force. Dashed-line: the actual force.
See this image and copyright information in PMC

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