Volume 19, Issue 3 (JIAEEE Vol.19 No.3 2022)
Journal of Iranian Association of Electrical and Electronics Engineers 2022, 19(3): 191-200 |
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aminiazar W, farahi R. Motion Modeling of Spinal Amputation Patients Using A Rehabilitation Robot. Journal of Iranian Association of Electrical and Electronics Engineers 2022; 19 (3) :191-200
URL: http://jiaeee.com/article-1-1392-en.html
URL: http://jiaeee.com/article-1-1392-en.html
Islamic Azad University, Mahabad Branch
Abstract: (1298 Views)
The process of empowering muscles in order to make them to a normal and common value is an expensive and prolonged work. There are some commercial exercise machines used for this purpose called rehabilitation systems. However, these machines have limited use because of some reasons. In this paper, an algorithm and an improved rule are presented for controlling a rehabilitation system of lower limbs which is implemented on a 3-Degree Of Freedom planar robot. Estimation and optimization of control parameters will be done by artificial neural networks and genetic algorithms, respectively (intelligent strategy). MATLAB Simulink is used for simulations. It shows that proposed algorithm in comparation with other similar methods is a low-cost method and needs to less energy and force with high accuracy.
Keywords: Rehabilitation robotic, Genetic Algorithm, Neural Network, optimized control, impedance control.
Type of Article: Research |
Subject:
Control
Received: 2021/10/30 | Accepted: 2022/06/23 | Published: 2022/09/2
Received: 2021/10/30 | Accepted: 2022/06/23 | Published: 2022/09/2
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