Rehabilitation of Lower Limbs Using an Optimized Intelligent Control Law

Rehabilitation is one of the non-medical treatments in community health. Rehabilitation means restoration of the abilities to maximize independence. 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 rehabilitation purposes. However, these machines have limited use because of their insufficient freedom in motion. Hence, it is clearly necessary to use Mechatronic technologies in rehabilitation area. In this paper, an optimized intelligent system is proposed that combines two control strategies: impedance and adaptive control. For optimizing the proposed algorithm, NN and GA tools are used. Then by obtaining the stability conditions, the architecture of rehabilitation system is designed based on these conditions. Finally, the proposed algorithm is implemented on a 2-DOF robot which is attached to the lower limbs of a patient. Thereafter, the results of simulations are presented by defining a physiotherapy standard mode on desired trajectory. MATLAB Simulink is used for simulations