Design and Implementation of an Optimized Intelligent Control Algorithm for Robotic Rehabilitation of Lower Limbs of Handicapped Patients using a 6-DOF Parallel Robot

The process of empowering muscles in order to make them to a normal and common value is an expensive and prolonged work. There are some commercial exercise machines used for this purpose called rehabilitation systems. However, these machines have limited use because of some reasons. In this paper, an algorithm and an improved rule are presented for designing a rehabilitation intelligent system of lower limbs by a 6-DOF Stewart parallel robot. Impedance control and adaptive control are used to control of robot. Estimation and optimization of control parameters will be done by NN and GA, respectively. Thereafter, the results of simulations are presented by defining a physiotherapy standard mode on desired trajectory. MATLAB Simulink is used for simulations. It shows that proposed algorithm in comparation with other similar methods isa low-cost method and needs to less energy and force with high accuracy.