Ankle rehabilitation research on position control using pneumatic artificial muscles

Pneumatic artificial muscles (PAMs) were used to power a tandem ankle rehabilitation mechanism with two degrees of freedom that mimics the structure and action of a human ankle joint. Based on a genetic optimization algorithm, a single PAM mathematical model was developed, and the kinematics and dynamics of the ankle rehabilitation mechanism were modeled. The RBF-PID controller was created by combining the PID control and RBF neural network algorithms and was utilized in models for the ankle rehabilitation mechanism's position control system. According to the simulation experiment results, the RBF neural network-based PID controller outperformed the PID controller noticeably in terms of response time and control precision and can adaptively adjust the PID parameters.