Control of a Knee Rehabilitation Machine Using a Virtual Prototype

  • A. Blanco OrtegaEmail author
  • J. A. López Leyva
  • G. Vela Valdés
  • E. Chávez Conde
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 133)


Humans are subject to traumatic incidents which cause that people cannot perform activities of daily life. When a muscle is not used or weakened, it tends to shorten, resulting in the joints become stiff, causing deformities or contractures that without the stimulus of movement or physical therapy lose their skills. We have developed a passive motion exercise virtual device for knee flexion/extension that can be applied to patients with complicated knee joint deformity. In this study a knee rehabilitation virtual prototype is presented which provide a flexion-extension movement with a Generalized Proportional Integral (GPI) controller that bring a softly movement. A GPI controller is proposed for the efficient rejection of a completely unknown perturbation input in controlled knee rehabilitation equipment. GPI controller results in a robust perturbation rejection scheme for a trajectory tracking task on the controlled knee rehabilitation equipment subject to the unknown perturbation input.


Continuous passive motion knee rehabilitation machine GPI control 


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • A. Blanco Ortega
    • 1
    Email author
  • J. A. López Leyva
    • 1
  • G. Vela Valdés
    • 1
  • E. Chávez Conde
    • 2
  1. 1.Department of Mechatronics EngineeringCENIDET, CuernavacaMorelosMexico
  2. 2.Department of Engineering and TechnologyUniversity of Papaloapan-Loma BonitaOaxacaMéxico

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