Smart Rehabilitation Devices: Part I - Force Tracking Control.

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.