Control of electro-rheological fluid based resistive torque elements for use in active rehabilitation devices

In this paper we present control algorithms for novel electro-rheological fluid based resistive torque generation elements that will be used to drive the joint of a new type of portable and controllable active knee rehabilitation orthotic device (AKROD) for iso-inertial, isokinetic, and isometric exercising as well as gait retraining. The AKROD is composed of straps and rigid components for attachment to the leg, with a central hinge mechanism where a gear system is connected. The key features of AKROD include: a compact, lightweight design with highly tunable torque capabilities through a variable damper component, full portability with on-board power, control circuitry, and sensors (encoder and torque), and real-time capabilities for closed loop computer control for optimizing gait retraining. The variable damper component is achieved through an electro-rheological fluid (ERF) element that connects to the output of the gear system. Using the electrically controlled rheological properties of ERFs, compact brakes capable of supplying high resistive and controllable torques are developed. In this project, a prototype for the AKROD has been developed and tested. The AKROD's ERF resistive actuator was tested in laboratory experiments using a custom-made ERF testing apparatus (ETA). ETA provides a computer-controlled environment to test ERF brakes and actuators in various conditions and scenarios including emulating the interaction between human muscles involved with the knee and the AKROD's ERF actuators/brakes. The AKROD's ERF resistive actuator was tested in closed loop torque control experiments. A hybrid (non-linear, adaptive) proportional-integral (PI) torque controller was implemented to achieve this goal.