Pneumatic Rehabilitation Robot: Modeling and Control

In this paper, a pneumatic robot system for PNF based rehabilitation is presented. The contents of this paper is focused on the actuation system used in this robot. Especially robots intended to cooperate with humans, the case of rehabilitation robotic devices, requires drives compliant and safe. By virtue of the compressibility of air, a pneumatic actuator offers compliant actuation system. The paper presents the modeling and identification of the pneumatic actuation system of the designed robot. Finally, the promising results of a controller computed using these models are summarized.