Knee rehabilitation using an intelligent robotic system

Akdogan E., Tacgin E., Adlı M.

JOURNAL OF INTELLIGENT MANUFACTURING, vol.20, no.2, pp.195-202, 2009 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 20 Issue: 2
  • Publication Date: 2009
  • Doi Number: 10.1007/s10845-008-0225-y
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED)
  • Page Numbers: pp.195-202
  • Keywords: Rehabilitation robots, Intelligent control, Impedance control, IMPEDANCE CONTROL, THERAPY, MACHINE
  • Yıldız Technical University Affiliated: No


There is an increasing trend in using robots for medical purposes. One specific area is the rehabilitation. There are some commercial exercise machines used for rehabilitation purposes. However, these machines have limited use because of their insufficient motion freedom. In addition, these types of machines are not actively controlled and therefore can not accommodate complicated exercises required during rehabilitation. In this study, a rule based intelligent control methodology is proposed to imitate the faculties of an experienced physiotherapist. These involve interpretation of patient reactions, storing the information received, acting according to the available data, and learning from the previous experiences. Robot manipulator is driven by a servo motor and controlled by a computer using force/torque and position sensor information. Impedance control technique is selected for the force control.