Control of a Knee Rehabilitation Machine Using a Virtual Prototype

摘要

Humans are subject to traumatic incidents which cause that people cannot perform activities of daily life. When a muscle is not used or weakened, it tends to shorten, resulting in the joints become stiff, causing deformities or contractures that without the stimulus of movement or physical therapy lose their skills. We have developed a passive motion exercise virtual device for knee flexion/extension that can be applied to patients with complicated knee joint deformity. In this study a knee rehabilitation virtual prototype is presented which provide a flexion-extension movement with a Generalized Proportional Integral (GPI) controller that bring a softly movement. A GPI controller is proposed for the efficient rejection of a completely unknown perturbation input in controlled knee rehabilitation equipment. GPI controller results in a robust perturbation rejection scheme for a trajectory tracking task on the controlled knee rehabilitation equipment subject to the unknown perturbation input.