Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="464276.fig.005a" src="https://static.hindawi.com/articles/tswj/volume-2014/464276/figures/464276.fig.005a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The proposed approach</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="464276.fig.005b" src="https://static.hindawi.com/articles/tswj/volume-2014/464276/figures/464276.fig.005b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>PDC</td></tr></table></td></tr></table>

<table>Angle tracking errors for both knee and ankle.</table>

The Scientific World Journal

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Figure 5

Figure 5: Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory 