GDL

A conventional continuous passive motion (CPM) machine uses simple controller such as On/Off controller. Some better CPMs use PID controller. These kind of CPMs can not distinguish load different due to the different size of the patient leg. This may cause the CPM no longer follow the trajectory or the angle commands. Meanwhile, each patient may have different scenario of therapy from the others. When progress on the patient exists, the range of the flexion may be increased step by step. Therefore, the treatment can be different in term of the range of flexion from time to time. This paper proposes CPM with hybrid proportional integral derivative (PID) and iterative learning controller (ILC). The system has capability in learning the trajectory tracking. Therefore, the CPM will be able to follow any load or trajectory changes applied to it. The more accurate CPM machine can follow the trajectory command, the better its performance for the treatment. The experiment showed that the system was stable due to the PID controller. The tracking performance also improved with the ILC even there exist some disturbances.

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