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Journal of Intelligent Material Systems and Structures
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Smart Rehabilitation Devices: Part I - Force Tracking Control

Shufang Dong

Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA

Ke-Qian Lu

Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA

J. Q. Sun

Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA, sun{at}me.udel.edu

Katherine Rudolph

Department of Physical Therapy, University of Delaware, Newark, DE 19716, USA

Resistance exercise has been widely reported to have positive rehabilitation effects for patients with neuromuscular and orthopaedic conditions. This article presents prototypes of smart variable resistance exercise devices using magneto-rheological fluid dampers. An intelligent supervisory control for regulating the resistive force or torque of the device is developed, and is validated both numerically and experimentally. The device provides both isometric and isokinetic strength training for the human joints including knee, elbow, hip, and ankle.

Key Words: muscle strengthening • smart rehabilitation device • magnetorheological fluids • smart materials for rehabilitation • supervisory control • force tracking

Journal of Intelligent Material Systems and Structures, Vol. 17, No. 6, 543-552 (2006)
DOI: 10.1177/1045389X06059075
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E. Cook, W. Hu, and N. M. Wereley
Magnetorheological Bypass Damper Exploiting Flow Through a Porous Channel
Journal of Intelligent Material Systems and Structures, December 1, 2007; 18(12): 1197 - 1203.
[Abstract] [PDF]