Control system for lower limb function training device by using internal model control

This paper presents a new control system for a lower limb function training device by the internal model control scheme. The proposed control method is able to estimate exercise capacity of patients without additional sensors, e.g. force sensor, pressure sensor, and EMG. The training device provides appropriate power when patients need support of pedaling in rehabilitation. A prototype of the training device is proposed, and effectiveness of disturbance estimation property of the internal model control scheme is shown in this paper.