Optimizing the Torque of Knee Movements of a Rehabilitation Robot

Subject Areas : Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering

محمدحسین زین الدینی ¹ , مصطفی پیرمرادیان ² , Farhad Azimifar ³

1 - دانشجوی کارشناسی ارشد، دانشکده مکانیک، دانشگاه آزاد اسلامی واحد خمینی شهر
2 - استادیار- دانشگاه آزاد اسلامی واحد خمینی شهر-
3 - Islamic Azad University, Majlesi Branch

Received: 2017-11-26 Accepted : 2018-11-14 Published : 2018-02-01

Keywords: fuzzy logic, Rehabilitation, Adaptive Network-based Fuzzy Inference System (ANFIS), Anthropometry,

Abstract :

The aim of this study is to employ the novel Adaptive Network-based Fuzzy Inference System to optimize the torque applied on the knee link of a rehabilitation robot. Given the special conditions of stroke or spinal cord injury patients, devices with minimum error are required for performing the rehabilitation exercises. After examining the anthropometric data tables of human body, parameters such as the length of shins, weight, force, joint angle etc. were chosen as the input data with the torque as the output of the system. Errors at any stage of the treatment can harm the patient or disrupt their recovery. Therefore, after examining different numbers of various fuzzy inference system membership functions and their consequent error, cases with the lowest error were chosen to be the best possible conditions for the system. Overall it can be said that a robot using the adaptive network-based fuzzy inference system offers negligible error.

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