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NARMA-L2 Controller for Series Elastic Based Body Weight Support System

Body weight support (BWS) unit is an important and crucial unit in modern rehabilitation systems. It can assist the patients with weak lower muscles and help quick recovery by compensating the gravitational forces acting on the legs by inserting an assisted force. Thus controlling of applied force to have smooth, fast and accurate response is an important issue. Different control structures have been proposed to control different BWS units. One of the neural network based controllers is NARMA-L2 that have provided good performance in identification and control of different applications. In this paper a NARMA-L2 controller is employed to force control of series elastic based BWS unit. Simulation results in MATLAB shows that the proposed controller has better control performance in comparison with two other recently used control structures.