Một sự thay thế thú vị để các thiết bị truyền động điện cho các mục đích y tế, đặc biệt đầy hứa hẹn cho phục hồi chức năng, thiết bị truyền động một nhân tạo cơ khí nén (PAM) vì cơ bắp như các thuộc tính như thể điều chỉnh độ cứng, độ bền cao với tỷ lệ trọng lượng, cấu trúc linh hoạt, sạch sẽ, sẵn có vànguồn điện giá rẻ, an toàn vốn có và hỗ trợ di động đối với con người thực hiện nhiệm vụ | Science Technology Development Vol 11 2008 NEURAL NETWORK CONTROL OF PNEUMATIC ARTIFICIAL MUSCLE MANIPULATOR FOR KNEE REHABILITATION Tu Diep Cong Thanh Tran Thien Phuc University of Technology VNU-HCM Manuscript Received on November 01st 2007 Manuscript Revised March 03rd 2008 ABSTRACT An interesting alternative to electric actuators for medical purposes particularly promising for rehabilitation is a pneumatic artificial muscle PAM actuator because of its muscle-like properties such as tunable stiffness high strength to weight ratio structure flexibility cleanliness readily available and cheap power source inherent safety and mobility assistance to humans performing tasks. However some limitations still exist such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of PAM manipulator due to the changes in the physical condition of patients as well as the various treatment methods. In this study an intelligent control algorithm using neural network for one degree of freedom manipulator is proposed for knee rehabilitation. The experiments are carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm is demonstrated through experiments with two conditions of patient and three kinds of treatment methods. Keywords Knee rehabilitation Pneumatic artificial muscle Intelligent control Neural network 1. INTRODUCTION There is an increasing trend in using robots for medical purposes. One specific area is the rehabilitation. There is some commercial exercise machines used for rehabilitation purposes. However these machines have limited use because of their insufficient motion freedom. In addition these types of machines are not actively controlled and therefore can not accommodate complicated exercises required during rehabilitation. An interesting alternative
