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FES cycling is a safe and easy way for the rehabilitation of spinal cord injury (SCI) patients. In order to design an control system for FES cycling, this paper presents a control strategy of the cycling induced by FES. The control system is developed based on artificial neural networks and consists of two layers: the outer layer controls the FES cycling model dynamics and generates desired torque;...
This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector)...
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