Design and development of inexpensive pneumatically-powered assisted knee-ankle-foot orthosis for gait rehabilitation-preliminary finding

Teng, ChunMan; Wong, ZhenYang; Teh, WeyYew; Chong, Yu Zheng

doi:10.1109/icobe.2012.6178949

Cited by 17 publications

(13 citation statements)

References 19 publications

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“…As a result, this type of soft actuating method has received widespread attention in recent years. [4][5][6][7][8] Teng et al 9 proposed a low-cost, assisted knee-ankle-foot orthosis with PMAs for providing assistance during gait training. Cao et al 10 developed a gait exoskeleton to simultaneously control the angular trajectory and compliance of the knee joint mechanism.…”

Section: Introductionmentioning

confidence: 99%

Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm

Cao¹,

Huang²,

Huang³

et al. 2019

Robotica

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SummaryThis paper presents a lower-limb exoskeleton that is actuated by pneumatic muscle actuators (PMAs). This exoskeleton system is composed of the mechanical structures, a treadmill, and a weight support system. With the cooperative work of the three parts, the system aims to assist either the elderly for muscle strengthening by conducting walking activities or the stroke patients during a rehabilitation training program. A mechanism is developed to separate the PMAs from the wearer’s legs to reduce the subject’s physical exertion. Furthermore, considering the difficulty in the modeling of proposed PMAs-driven exoskeleton, a safe and model-free control strategy called proxy-based sliding mode control (PSMC) is used to ensure proper control of the exoskeleton. However, the favorable performances are strongly dependent on the appropriate control parameters, which may be difficult to obtain with blind tuning. Therefore, we propose a global parameters optimization algorithm called switch-mode firefly algorithm (SMFA) to automatically calculate the pre-defined object function and attain the most applicable parameters. Experimental studies are conducted, and the results show the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm

Cao¹,

Huang²,

Huang³

et al. 2019

Robotica

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show abstract

“…Then, the third generation AULLE which is named HULC was developed for carrying a load of about 90 kg. Second, the rehabilitation type LLE (RELLE) was developed for patients whose lower limbs are inconvenienced [ 3 – 5 ]. Typical patients include those with foot drop, spinal cord injuries, and strokes.…”

Section: Introductionmentioning

confidence: 99%

Design and Performance Evaluation of a Wearable Sensing System for Lower-Limb Exoskeleton

Yue

Lin

Zhang

et al. 2018

Applied Bionics and Biomechanics

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Because the target users of the assistive-type lower extremity exoskeletons (ASLEEs) are those who suffer from lower limb disabilities, customized gait is adopted for the control of ASLEEs. However, the customized gait is unable to provide stable motion for variable terrain, for example, flat, uphill, downhill, and soft ground. The purpose of this paper is to realize gait detection and environment feature recognition for AIDER by developing a novel wearable sensing system. The wearable sensing system employs 7 force sensors as a sensing matrix to achieve high accuracy of ground reaction force detection. There is one more IMU sensor that is integrated into the structure to detect the angular velocity. By fusing force and angular velocity data, four typical terrain features can be recognized successfully, and the recognition rate can reach up to 93%.

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“…While hydraulic actuation seems to be better suited for power augmentation exoskeletons, 31,32 pneumatic (cylinders or ''fluidic muscles'') actuation is more often deployed in rehabilitation devices. [33][34][35][36] Electric SEAs are used for a vast number of systems in rehabilitation, 37,38 for power support, and for elderly people. 39 They provide high overall power density and can be controlled well.…”

Section: Introductionmentioning

confidence: 99%

Knee-ankle-foot orthosis with powered knee for support in the elderly

Pott

Wolf

Block

et al. 2017

Proc Inst Mech Eng H

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A prototype of a powered knee orthotic device was developed to determine whether fractional external torque and power support to the knee relieves the biomechanical loads and reduces the muscular demand for a subject performing sit-to-stand movements. With this demonstrator, consisting of the subsystems actuation, kinematics, sensors, and control, all relevant sensor data can be acquired and full control is maintained over actuator parameters. A series-elastic actuator based on a direct current motor provides up to 30 Nm torque to the knee via a hinge joint with an additional sliding degree of freedom. For reasons of feasibility under everyday conditions, user intention is monitored by employing a noninvasive, nonsticking muscle activity sensor to replace electromyographic sensors, which require skin preparation. Furthermore, foot plates with force sensors have been developed and included to derive ground reaction forces. The actual knee torque needed to provide the desired support is based on an inverse dynamics model using ground reaction forces signals and leg kinematics. A control algorithm including disturbance feed forward has been implemented. A demonstration experiment with two subjects showed that 23 % of moment support in fact leads to a similar reduction in activation of the main knee extensor muscle.

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Design and development of inexpensive pneumatically-powered assisted knee-ankle-foot orthosis for gait rehabilitation-preliminary finding

Cited by 17 publications

References 19 publications

Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm

Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm

Design and Performance Evaluation of a Wearable Sensing System for Lower-Limb Exoskeleton

Knee-ankle-foot orthosis with powered knee for support in the elderly

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