Design and Implementation of a Robotic Hip Exoskeleton for Gait Rehabilitation

Hsu, Shi Heng; Changcheng, Chuan; Lee, Heng-Ju; Chen, Chun Ta

doi:10.3390/act10090212

Cited by 10 publications

(4 citation statements)

References 24 publications

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“…The approach employed sensory feedback and was applied to the degree of freedom models of the human arm and lower limb to study the overall performance of the system. Hsu et al (Hsu et al 2021) proposed a four-degree-offreedom robotic hip exoskeleton for gait rehabilitation that used active extension and passive abduction to conform with the thigh movements of the user. Sarkisian et al (Sarkisian et al 2021) proposed a motorized knee exoskeleton to create a light-weight and compact self-aligning system.…”

Section: Literature Reviewmentioning

confidence: 99%

An Approach to Investigate Public Opinion, Views, and Perspectives Towards Exoskeleton Technology

Li¹,

Lye²,

Teo³

et al. 2022

Human Interaction &Amp; Emerging Technologies (IHIET-AI 2022): Artificial Intelligence &Amp; Future Applications

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In Human-machine interaction, information is communicated between a human and the machine via user interfaces. Consequently, the measures and level of insights that can be derived from such studies will be dependent upon the context under which the experimental setup was designed for. This paper highlights a successful highly synchronous human-in-the-loop (HITL) experimental system that can be used to measure situational aware-ness in Air Traffic Monitoring. The system setup consists of a NARSIM radar interface that displays the relevant aircraft information, a secondary control computer for the recording processing, and storage of the captured neurophysiological inputs, a remote eye tracker, and an electroencephalogram (EEG), the latter two of which provide the input. In setting up such a system, discussion of key design consideration on system compatibility and information transferability, spatial and resolution accuracy, data input sources and synchronization, software selection, and the ease of results validation will be made.

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Section: Literature Reviewmentioning

confidence: 99%

An Approach to Investigate Public Opinion, Views, and Perspectives Towards Exoskeleton Technology

Li¹,

Lye²,

Teo³

et al. 2022

Human Interaction &Amp; Emerging Technologies (IHIET-AI 2022): Artificial Intelligence &Amp; Future Applications

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show abstract

“…This simple mechanism can meet the stability requirements for hip joint rehabilitation. Hsu et al [11] designed a hip exoskeleton, which is a kinematically compatible four-degree-of-freedom robot. According to the effect of dynamic assistance, it was verified that the exoskeleton robot can provide a stable auxiliary torque for the hip joint and help the patient carry out effective rehabilitation training.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Performance Analysis of a Hip Rehabilitation Robot

Jia,

Li,

Liu

et al. 2023

Biomimetics

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The dynamic performance of a 2-DOF hip joint rehabilitation robot configuration for patients with hip joint dyskinesia was analyzed. There were eight revolute pairs on one side of the hip joint rehabilitation robot configuration. The dynamics of the robot configuration were analyzed with the Newton–Euler method, and a dynamic model was developed. On the basis of the solved dynamic model, the dynamic performance index of the hip joint rehabilitation robot configuration is given, and the performance atlas under different parameters is drawn. The performance of the hip joint rehabilitation robot is theoretically verified. This study provides a theoretical basis for the research and development of exoskeleton rehabilitation robots.

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“…Thus, a lower limb exoskeleton, specifically, the rehabilitation hip exoskeleton, is the focus of this paper because 45% of the mechanical energy of lower limb movements comes from the hip joint [8,11]. Robotic exoskeletons can contribute in repetitive training of human extremities to enable patients to pursue rehabilitation sessions at home and enable therapists to focus on more specialised rehabilitation sessions [12].…”

Section: Introductionmentioning

confidence: 99%

The Energy Consumption and Robust Case Torque Control of a Rehabilitation Hip Exoskeleton

Andersson

Björsell

2022

Applied Sciences

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Gait disorders, muscle weakness, spinal cord injuries (SCIs) and other work-related disorders have increased the need for rehabilitation exoskeletons—specifically, for the hip because a huge percentage of mechanical power comes from the hip joint. However, realising a lightweight rehabilitation hip exoskeleton for mobility and at-home use with reliable control is challenging. The devices developed are restricted by a joint actuator and energy source design and tend to have various uncertainties. Thus, this study tested the robustness of four optimal controller cases in a simulation-based environment. We sought to determine whether the most robust optimal controller consumed less energy and demonstrated better performance in tracking the desired signal. The robustness of the optimal cases was tested with the hip torque signals of healthy subjects. The number of sit-to-stand (STS) instances and the walking distance at various speeds were calculated. The results showed that the most robust case controller was more energy efficient for STS, but not for walking activity. Furthermore, this study provides compelling evidence that various optimal controllers have different degrees of robustness and effects on energy consumption.

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Design and Implementation of a Robotic Hip Exoskeleton for Gait Rehabilitation

Cited by 10 publications

References 24 publications

An Approach to Investigate Public Opinion, Views, and Perspectives Towards Exoskeleton Technology

An Approach to Investigate Public Opinion, Views, and Perspectives Towards Exoskeleton Technology

Dynamic Modeling and Performance Analysis of a Hip Rehabilitation Robot

The Energy Consumption and Robust Case Torque Control of a Rehabilitation Hip Exoskeleton

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