抄録
In the purpose of rehabilitation for people unable to perform a normal gait pattern a pneumatically operated gait training system with a biarticular muscle model utilizing rubbertuators have been developed. The pneumatics and the biarticular characteristics make the system difficult to control. In this research paper machine learning techniques have been used in an attempt to design a control system for the pneumatic gait. Preliminary results indicate that inverse plant modeling using Artificial Neural Networks (ANN) might be a successful approach.
