Optimized intelligent control of a 2-DOF robot for rehabilitation of lower limbs using NN and GA

Rehabilitation is one of the non-medical treatments in community health. Rehabilitation means restoration of theabilities to maximize independence The process of empowering muscles in order to make them to a normal andcommon value is an expensive and prolonged work. There are some commercial exercise machines used forrehabilitation 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 optimizedintelligent system is proposed that combines two control strategies: impedance and adaptive control. For optimizingthe proposed algorithm, NN and GA tools are used. Then by obtaining the stability conditions, the architecture ofrehabilitation 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 bydefining a physiotherapy standard mode on desired trajectory. MATLAB Simulink is used for simulations.

Keywords:

Optimized control , intelligent control , impedance control , adaptive control , mechatronic , rehabilitation robotic , Neural Network , Genetic Algorithm