近年來，技術性輔助運用在功能性復健器材受到非常大的關注，許多類型的復健器材之設計被相繼的提出，並運用各種控制器加以實現。在本篇論文中，我們使用一個名為T-S小腦模糊控制器的方法，用來對於我們的下肢復健系統進行追蹤控制。而我們提出的控制架構有兩個部分，第一個部份是追蹤產生器，第二個部分T-S小腦模糊控制器。在模擬的結果中，我們的系統表現出良好的追蹤性能。 In recent year, Technical assistance to functional rehabilitation device has attracted great interest. Many kind of rehabilitation device have been designed and implemen-tation by varied control theorem. In this study, we introduce an adaptive Tak-agi-Sugeno cerebellar model articulation control (T-S CMAC) for tracking control of lower-limb rehabilitation system. The proposed control structure is based on two parts. The first part is trajectory generator, and second part is T-S CMAC controller. In the simulation results, the tracking performance can be proved.
