Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller

This study presents a flatness-based controller with fuzzy logic controller combined for controlling the artificial limb 2-DOF portable end-effector type therapeutic robot called iTbot (intelligent therapeutic robot). Compared with the most developed rehabilitation robots, this prototype has been operated at multiple manually selectable orientations to implement a wide range of robot-aided exercises for stroke survivors. To provide effective rehabilitation along with the physical therapy activities, we present the differential geometry transformations of the system to obtain triangu-lar canonical normal forms incorporated with fuzzy pre-compensator to achieve a high speed and high precision of specified trajectory. Simulations results show the efficiency of the suggested controller scheme.