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The design and development of an offline self organizing fuzzy controller for a pneumatic artificial muscle (PAM) is discussed in this paper. This inherently compliant soft actuator is intended as the driving component in a mobile, lower limb, assistive/rehabilitative orthotic device. Accurate control using classical control approach is difficult due to the compressibility of gas and the nonlinear...
This paper provides an overview of the state-of-art technology behind existing active assistive / rehabilitative devices, and describes the design and features involved. A novel concept for an active assistive and resistive orthotic device utilizing pneumatic artificial muscles (PAM) is then proposed. The concept design strives to incorporate the advantages inherent in existing devices, enhanced functionalities...
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