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Smart Rehabilitation Devices: Part II – Adaptive Motion Control

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

This article presents a study of adaptive motion control of smart versatile rehabilitation devices using MR fluids. The device provides both isometric and isokinetic strength training and is reconfigurable for several human joints. Adaptive controls are developed to regulate resistance force based on the prescription of the therapist. Special consideration has been given to the human–machine interaction in the adaptive control that can modify the behavior of the device to account for strength gains or muscle fatigue of the human subject.

Key Words: muscle strengthening • smart rehabilitation device • magnetorheological fluids • smart materials for rehabilitation • adaptive control • motion trackin

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