Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

Veneman, Jan F.; Kruidhof, R.; Hekman, Edsko E.G.; Ekkelenkamp, R.; Asseldonk, Edwin H.F. van; Kooij, Herman van der

doi:10.1109/tnsre.2007.903919

Cited by 1,094 publications

(506 citation statements)

References 22 publications

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“…The study, performed on a single patient, showed that the electromyographic values during walking with the device corresponded to the normal values of a healthy individual during free walking; this demonstrated the physiological value of the robotic device [82].…”

Section: The Importance Of Superficial Electromyography In the Evaluamentioning

confidence: 58%

Surface Electromyography: Its Role and Potential in the Development of Exoskeleton (Review)

Rukina¹,

Кузнецов²,

Борзиков³

et al. 2016

Sovrem Tehnol Med

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This study evaluates the effectiveness of superficial electromyography (sEMG) in the development of biocontrolled exoskeletons, through an analysis based on the findings of foreign and domestic literature on the subject. A brief historical background is provided. The features reviewed include the registration, processing and analysis of the signals from superficial electromyograms in respect of biocontrol. It is demonstrated that testing exoskeleton devices in association with sEMG provides an informative analytical tool for assisting in the optimization of exoskeleton design in order to reduce the metabolic "cost" of locomotion. The use of signals from superficial myograms during the operation of an exoskeleton have also been reviewed. The role of myography in studies of the fundamental physical processes involved while adapting to an exoskeleton is described. We conclude that the potential for the use of sEMG in respect of biocontrol is related to the new technical and mathematical possibilities available for the registration, transformation and classification of bioelectrical signals from the muscles, and the isolation of their patterns of muscular activity.

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Section: The Importance Of Superficial Electromyography In the Evaluamentioning

confidence: 58%

Surface Electromyography: Its Role and Potential in the Development of Exoskeleton (Review)

Rukina¹,

Кузнецов²,

Борзиков³

et al. 2016

Sovrem Tehnol Med

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“…Lokomat uses impedance control based on a patient-adaptive gait pattern [9] by monitoring the measured position errors as well as the interaction forces between orthosis and patient. A similar approach is employed in interactive gait rehabilitation using the exoskeleton LOPES [10]. LOPES uses an impedance-based approach to perform a bidirectional control in accordance to the interaction between patient and robot: patient-in-charge and robot-in-charge.…”

Section: Robotic Rehabilitation Therapiesmentioning

confidence: 99%

An adaptive control strategy for postural stability using a wearable robot

Rajasekaran

Aranda

Casals

et al. 2015

Robotics and Autonomous Systems

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Wearable robots are expected to expand the use of robotics in rehabilitation since they can widen the assistance application context. An important aspect of a rehabilitation therapy, in terms of lower extremity assistance, is balance control. In this article, we propose and evaluate an adaptive control strategy for robotic rehabilitation therapies to guarantee static stability using a wearable robot. Postural balance control can be implemented either acting on the hip, on the ankle joint or on both, depending on the kind of perturbation acting on the subject: internal or external. Internal perturbations can be produced by any voluntary movement of the body, such as bending the trunk. External perturbations, in the form of an impact force, are applied by the exoskeleton without any prior notice to observe the proactive response of the subject. We have used a 6 degree of freedom planar lower limb exoskeleton, H1, to perform this analysis. The developed control strategy has been designed to provide the necessary assistance, related to balance recovery and postural stability, under the ‘‘Assist-as-needed’’ paradigm. The interaction forces\ud between orthosis and subject are monitored, as they play a relevant role in the definition of assistive and resistive movements to be applied to the joints. The proposed method has been tested with 5 healthy subjects in presence of internal and external disturbances. The results demonstrate that knowing the stability limit of each subject, in combination with a therapeutically selected scaling factor, the proposed\ud adaptive control helps in providing an effective assistance in therapy. This method is efficient in handling the individual and combined effect of external perturbations acting on any joint movements.Peer ReviewedPostprint (author’s final draft

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“…The device is characterized by (a) a soft, responsive interface with the body, (b) sensors and actuators that emulate the function of biological components, and (c) a control system based upon distributed networks with modular components. Unlike current exoskeletons [1], [2] that are heavy and structurally similar to motorized braces, our cyber-physical device is made from soft and elastic materials.…”

Section: Introductionmentioning

confidence: 99%

Networked bio-inspired modules for sensorimotor control of wearable cyber-physical devices

Park¹,

Young²,

Chen

et al. 2013

2013 International Conference on Computing, Networking and Communications (ICNC)

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Abstract-We present a functioning prototype of a soft, modular, active cyber-physical assistive device comprised of a sealed network of conductive liquid sensors and collectives of miniature pneumatically-driven actuators that serve as artificial muscles. The system is multi-functional, supports large deformation, and operates with its own on-board pneumatics and controllers. When multiple artificial muscles are collectively actuated (contracted), the overall displacement and force produced is scaled to the size, form, and capabilities of the wearer. Each muscle is equipped with a soft strain sensor that detects the muscle contraction. Four muscles with strain sensors are controlled by one micro-controller as one module. The current prototype has four modules with 16 muscles in total. With different combinations of contracted muscles, various shapes may be demonstrated.Index Terms-cyber-physical system (CPS); assistive device; sensor network; pneumatic artificial muscle (PAM); soft strain sensor; inertial measurement unit (IMU).

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Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

Cited by 1,094 publications

References 22 publications

Surface Electromyography: Its Role and Potential in the Development of Exoskeleton (Review)

Surface Electromyography: Its Role and Potential in the Development of Exoskeleton (Review)

An adaptive control strategy for postural stability using a wearable robot

Networked bio-inspired modules for sensorimotor control of wearable cyber-physical devices

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