Design of an Optimized Intelligent Control Algorithm for Robotic Rehabilitation of Lower Limbs of Handicapped Patients using a 3-DOF Robot

The process of empowering the muscles in order to make them to a normal and common value is an expensive and prolonged work, in common available methods. Hence, it is clearly necessary that Mechatronic technologies should be used in this area. In this paper, an algorithm and an improved rule are presented for controlling a rehabilitation system of lower limbs which is implemented on a 3-Degree Of Freedom (DOF) planar robot. Estimation and optimization of control parameters will be done by artificial neural networks and genetic algorithms, respectively (intelligent strategy). Thereafter, the results of simulations are presented by defining a physiotherapy standard mode on a desired trajectory. MATLAB/SIMULINK is used for simulations. Finally, a comparative discussion between this strategy and common methods is devised.