A Design of Lower Limb Rehabilitation Robot and its Control for Passive Training

Masengo, Gilbert; Zhang, Xiaodong; Yin, Guofu; Alhassan, Ahmad Bala; Dong, Runlin; Orban, Mostafa; Mudaheranwa, Emmanuel

doi:10.1109/cyber50695.2020.9278952

Cited by 5 publications

(5 citation statements)

References 8 publications

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“…All the above studies have in common use of several tools to achieve the safety required by the medical procedure. The safety may be achieved through an effective correlation between the kinematics of the medical robot [18][19][20][21][22][23] and the control system [24][25][26][27][28][29][30][31] used to actuate the robotic structure with respect to human-robot interactions [32][33][34][35].…”

Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.

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Section: Introductionmentioning

confidence: 99%

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

et al. 2021

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“…For instance, they are usually utilized in brushless DC motors to decrease electromagnetic discharge, which is needed for medical tools. Thus, it is widely used in medical equipment (Masengo et al, 2020 ). Finally, a SEA (Series Elastic Actuator) drive mode can offer the following advantages: high control precision, high safety, weakened inertia impaction lowering, and friction losses storing energy, but it can also result in some downsides, such as huge power consumption, rigidity limited by elastic elements, wide volume, quite weighty, and complex design (Zhang T. et al, 2018 ; Li and Bai, 2019 ).…”

Section: Lower Limb Exoskeleton Robot (Ller)mentioning

confidence: 99%

“…A trajectory deformation algorithm (TDA) has been investigated, and the HRCC method with a low-level position monitor and high-level trajectory tracking has been investigated for LLRR to produce the required trajectory (Zhou et al, 2021 ). Truly, the crucial challenge or drawback of the control strategies based on position trajectory or tracking control is that they push the user's limbs on fixed reference or predefined trajectories without considering the user's impairment stage or level with personal adjustments, which is tough to achieve by a therapist or patient (Gilbert et al, 2016 ; Masengo et al, 2020 ). Thus, certain automatic adaptation principles can be applied to address this challenge.…”

Section: Introductionmentioning

confidence: 99%

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

et al. 2023

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Effective control of an exoskeleton robot (ER) using a human-robot interface is crucial for assessing the robot's movements and the force they produce to generate efficient control signals. Interestingly, certain surveys were done to show off cutting-edge exoskeleton robots. The review papers that were previously published have not thoroughly examined the control strategy, which is a crucial component of automating exoskeleton systems. As a result, this review focuses on examining the most recent developments and problems associated with exoskeleton control systems, particularly during the last few years (2017–2022). In addition, the trends and challenges of cooperative control, particularly multi-information fusion, are discussed.

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“…The Yeoh 3rd-order hyperelastic material model was selected in this study due to its compatibility in simulating materials with large strain differences ranging from 0% to 500% (Saleh et al, 2020). Previous research has demonstrated the superior performance of the Yeoh model compared to other hyperelastic material models (Masengo et al, 2020;GUO et al, 2022). The general formula for hyperelastic material models is represented by Eq.…”

Section: Enhancing Soft Muscle Designmentioning

confidence: 99%

“…In the realm of rehabilitation technology, significant advancements have been made in the development of exoskeleton-assisted systems, particularly in the field of upper limb rehabilitation ( Masengo et al, 2020 ; GUO et al, 2022 ). One noteworthy innovation is the low-cost and customizable 3D-printed hand exoskeleton, which offers a versatile solution for individuals undergoing hand injury rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Soft pneumatic muscles for post-stroke lower limb ankle rehabilitation: leveraging the potential of soft robotics to optimize functional outcomes

Orban,

Guo,

Yang

et al. 2023

Front. Bioeng. Biotechnol.

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Introduction: A soft pneumatic muscle was developed to replicate intricate ankle motions essential for rehabilitation, with a specific focus on rotational movement along the x-axis, crucial for walking. The design incorporated precise geometrical parameters and air pressure regulation to enable controlled expansion and motion.Methods: The muscle’s response was evaluated under pressure conditions ranging from 100-145 kPa. To optimize the muscle design, finite element simulation was employed to analyze its performance in terms of motion range, force generation, and energy efficiency. An experimental platform was created to assess the muscle’s deformation, utilizing advanced techniques such as high-resolution imaging and deep-learning position estimation models for accurate measurements. The fabrication process involved silicone-based materials and 3D-printed molds, enabling precise control and customization of muscle expansion and contraction.Results: The experimental results demonstrated that, under a pressure of 145 kPa, the y-axis deformation (y-def) reached 165 mm, while the x-axis and z-axis deformations were significantly smaller at 0.056 mm and 0.0376 mm, respectively, highlighting the predominant elongation in the y-axis resulting from pressure actuation. The soft muscle model featured a single chamber constructed from silicone rubber, and the visually illustrated and detailed geometrical parameters played a critical role in its functionality, allowing systematic manipulation to meet specific application requirements.Discussion: The simulation and experimental results provided compelling evidence of the soft muscle design’s adaptability, controllability, and effectiveness, thus establishing a solid foundation for further advancements in ankle rehabilitation and soft robotics. Incorporating this soft muscle into rehabilitation protocols holds significant promise for enhancing ankle mobility and overall ambulatory function, offering new opportunities to tailor rehabilitation interventions and improve motor function restoration.

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A Design of Lower Limb Rehabilitation Robot and its Control for Passive Training

Cited by 5 publications

References 8 publications

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Soft pneumatic muscles for post-stroke lower limb ankle rehabilitation: leveraging the potential of soft robotics to optimize functional outcomes

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