الملخص الإنجليزي
This master thesis details the design, development, and control of pleated cylindrical
artificial muscles (PAM) for upper limb rehabilitation training. Recognizing the challenges
associated with controlling complex PAM dynamics using traditional model-based
approaches, this work proposes an intelligent adaptive controller based on input-output data
for accurate trajectory tracking. Qualitative analysis guarantees the closed-loop stability,
while quantitative evaluations assess trajectory error bounds. Extensive testing encompasses
both computer simulations utilizing the developed PAM dynamic model and experimental
validation on a prototype. Experimental results corroborate theoretical predictions and
simulation findings, demonstrating superior performance compared to non-pleated AMs.
Notably, PAMs exhibit reduced actuation dead zones and significantly enhanced actuation
speed, making them attractive candidates for rehabilitation applications.
