Position Tracking of a Pneumatic-Muscle-Driven Rehabilitation Robot by a Single Neuron Tuned PID Controller

Table 1

Components of the PMA-driven rehabilitation ankle robot.

Name	Type	Manufacturer	Main parameters
PMA	DMSP-40-300N-RMCM	FESTO corporation	Nominal inner diameter: 40 mm
			Nominal length: 300 mm
			Pressure range: 0–0.6 MPa
			Maximum force: 6000 N
			Maximum contractile ratio: 25%
Valve	ITV1050-212N	SMC corporation	Controlling voltage range: 0–5 V
			Output pressure range: 0.005–0.9 MPa
Incremental encoder	ZMK60		Working voltage: DC 5 V
			Maximum frequency response: 300 kHz
Torque sensor	ZNNT-F	CHINO SENSOR	Load range: 2–200 Nm
			Output signal: 0–5 V, 0–10 V, 4–20 mA, 0–10 mA
			Comprehensive accuracy: 0.2%
AD/DA card	USB3102A	ART technology corporation	AD module:
			Resolution: 16 bit
			Maximum sampling speed: 250 Ksps
			Range: ±10 V, ±5 V, ±2 V, ±1 V
			DA module:
			Resolution: 16 bit
			Maximum sampling speed: 100 Ksps
Computer	INS14-3476	DELL corporation	Processor: Intel i5-7200U
			Storage disk: 500 G
			RAM: 4 GB
Air compressor	DET750-30L	DAERTUO corporation	Work power: 750 W
			Exhaust air capacity: 120 L/min
			Maximum pressure: 0.8 MPa