Smart Rehabilitation Devices: Part II - Adaptive Motion Control.

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.