In this work, a novel design of a portable leg rehabilitation system (PLRS) is presented. The main purpose of this paper is to provide a portable system, which allows patients with lower-limb disabilities to perform leg and foot rehabilitation exercises anywhere without any embarrassment compared to other devices that lack the portability feature. The model of the system is identified by inverse kinematics and dynamics analysis. In kinematics analysis, the pattern of motion of both leg and foot holders for different modes of operation has been investigated. The system is modeled by applying Lagrangian dynamics approach. The mathematical model derived considers calf and foot masses and moment of inertias as important parameters. Therefore, a gait analysis study is conducted to calculate the required parameters to simulate the model. Proportional derivative (PD) controller and proportional-integral-derivative (PID) controller are applied to the model and compared. The PID controller optimized by hybrid spiral-dynamics bacteria-chemotaxis (HSDBC) algorithm provides the best response with a reasonable settling time and minimum overshot. The robustness of the HSDBC–PID controller is tested by applying disturbance force with various amplitudes. A setup is built for the system experimental validation where the system mathematical model is compare with the estimated model using system identification (SI) toolbox. A significant difference is observed between both models when applying the obtained HSDBC–PID controller for the mathematical model. The results of this experiment are used to update the controller parameters of the HSDBC-optimized PID.
Skip Nav Destination
Article navigation
July 2017
Research-Article
Design, Modeling, and Control of a Portable Leg Rehabilitation System
Khaled M. Goher,
Khaled M. Goher
Faculty of Environment Society and Design,
Lincoln University,
Lincoln 7647, New Zealand
e-mail: khaled.goher@lincoln.ac.nz
Lincoln University,
Lincoln 7647, New Zealand
e-mail: khaled.goher@lincoln.ac.nz
Search for other works by this author on:
Sulaiman O. Fadlallah
Sulaiman O. Fadlallah
School of Engineering, Computer, and
Mathematical Sciences,
Auckland University of Technology,
Auckland 1142, New Zealand
e-mail: sulaiman.fadlallah@aut.ac.nz
Mathematical Sciences,
Auckland University of Technology,
Auckland 1142, New Zealand
e-mail: sulaiman.fadlallah@aut.ac.nz
Search for other works by this author on:
Khaled M. Goher
Faculty of Environment Society and Design,
Lincoln University,
Lincoln 7647, New Zealand
e-mail: khaled.goher@lincoln.ac.nz
Lincoln University,
Lincoln 7647, New Zealand
e-mail: khaled.goher@lincoln.ac.nz
Sulaiman O. Fadlallah
School of Engineering, Computer, and
Mathematical Sciences,
Auckland University of Technology,
Auckland 1142, New Zealand
e-mail: sulaiman.fadlallah@aut.ac.nz
Mathematical Sciences,
Auckland University of Technology,
Auckland 1142, New Zealand
e-mail: sulaiman.fadlallah@aut.ac.nz
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 18, 2016; final manuscript received January 17, 2017; published online May 12, 2017. Assoc. Editor: Dumitru I. Caruntu.
J. Dyn. Sys., Meas., Control. Jul 2017, 139(7): 071013 (15 pages)
Published Online: May 12, 2017
Article history
Received:
August 18, 2016
Revised:
January 17, 2017
Citation
Goher, K. M., and Fadlallah, S. O. (May 12, 2017). "Design, Modeling, and Control of a Portable Leg Rehabilitation System." ASME. J. Dyn. Sys., Meas., Control. July 2017; 139(7): 071013. https://doi.org/10.1115/1.4035815
Download citation file:
Get Email Alerts
Cited By
Robust Fault Detection for Unmanned Aerial Vehicles Subject to Denial-of-Service Attacks
J. Dyn. Sys., Meas., Control
Vibration Suppression and Trajectory Tracking with Nonlinear Model Predictive Control for UAM Aircraft
J. Dyn. Sys., Meas., Control
Learning battery model parameter dynamics from data with recursive Gaussian process regression
J. Dyn. Sys., Meas., Control
An Integrated Sensor Fault Estimation and Fault-Tolerant Control Design Approach for Continuous-Time Switched Systems
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
Development of Real-Time System Identification to Detect Abnormal Operations in a Gas Turbine Cycle
J. Energy Resour. Technol (July,2020)
Transmission Line Modeling of Inclined Compressible Fluid Flows
J. Dyn. Sys., Meas., Control (January,2018)
A New Model-Based Control Structure for Position Tracking in an Electro-Hydraulic Servo System With Acceleration Constraint
J. Dyn. Sys., Meas., Control (December,2017)
Modified Levenberg–Marquardt Algorithm for Backpropagation Neural Network Training in Dynamic Model Identification of Mechanical Systems
J. Dyn. Sys., Meas., Control (March,2017)
Related Proceedings Papers
Related Chapters
New H∞ Controllers Design for Networked Control System with Disturbance Based on Asynchronous Dynamical System
International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)
QRAS Approach to Phased Mission Analysis (PSAM-0444)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
Measuring Graph Similarity Using Node Indexing and Message Passing
International Conference on Computer Technology and Development, 3rd (ICCTD 2011)