The project proposes the use of automatically controlled pneumatic muscle actuators (PMAs) in conjunction with low load prolonged stretch (LLPS) devices. The LLPS devices are used to treat joint contractures associated with cerebrovascular attacks, brain or cerebrospinal cord injuries. The contractures that develop due to spasticity and hypertonia over time can become quite disturbing and painful to the patient. Use of LLPS devices and other alternative techniques such as serial casting are intended to improve the condition and prevent the contractures of the joints and muscles. In the existing LLPS devices, the settings are controlled periodically by the caregivers. The project is designed to make use of conventional control techniques to adjust LLPS devices through the use of PMAs. It is proposed to use a dual-mode control mechanism for LLPS by incorporating PMAs in the devices. It is suggested that two PID control algorithms be used to adjust the tensile load and the joint angular position automatically. The project further includes a comparative evaluation of PMA driven LLPS devices with conventional passive LLPS by testing them on stroke patients.
