Intelligent Sliding-mode Control for Knee Rehabilitation System

摘要

In this paper, we present the design and control of continuous passive motion (CPM) machine based on Constraint-Induced Movement Therapy (CIMT) for a patient who needs knee rehabilitation. The dynamic model of the CPM machine is firstly derived by the principal of virtual work in dynamics. And then, an intelligent sliding-mode control (ISMC) system which involved recurrent Chebyshev neural network (RCNN) estimator to estimate the unknown external disturbance and uncertainty online is proposed to track the angular position and velocity of the CPM machine. Finally, the experimental results are illustrated to demonstrate that the ISMC system can effectively reduce chattering phenomenon and precisely track reference trajectory of the CPM machine.