Design and Validation of a Lower-Limb Haptic Rehabilitation Robot

Dawson-Elli, Alexander; Adamczyk, Peter G.

doi:10.1109/tnsre.2020.3000735

Cited by 17 publications

(4 citation statements)

References 47 publications

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“…The first one enhances human strength and endurance [1,2]. The second focuses on assisting patients or elderly people with a partial decline in their motion performance [3,4]. The third is an exoskeleton [5,6] that is suitable for the rehabilitation training of patients with a near-loss walking ability.…”

Section: Introductionmentioning

confidence: 99%

Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission

et al. 2021

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Exoskeletons with a Bowden cable for power transmission have the advantages of a concentrated mass and flexible movement. However, their integrated motor is disturbed by the Bowden cable’s friction, which limits the performance of the force loading response. In this paper, we solve this problem by designing an outer-loop feedforward-feedback proportion-differentiation controller based on an inner loop disturbance observer. Firstly, the inner loop’s dynamic performance is equivalent to the designed nominal model using the proposed disturbance observer, which effectively compensates for the parameter perturbation and friction disturbance. Secondly, based on an analysis of the stability of the inner loop controller, we obtain the stability condition and discuss the influence of modeling errors on the inner loop’s dynamic performance. Thirdly, to avoid excessive noise from the force sensors being introduced into the designed disturbance observer, we propose the feedforward-feedback proportion-differentiation controller based on the nominal model and pole configuration, which improves the outer loop’s force loading performance. Experiments are conducted, which verify the effectiveness of the proposed methods.

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Section: Introductionmentioning

confidence: 99%

Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission

et al. 2021

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“…EMG can reflect the motion intention of the human body, and it is widely used in rehabilitation training of lower limb disabled persons [ 8 , 9 , 10 , 11 ]. In order to accurately determine whether the trajectory of EMG-controlled prosthesis is the same as the expected trajectory of the human body, it is very important to determine the acquisition position of the EMG signal of the residual limb [ 12 , 13 , 14 , 15 , 16 , 17 ].…”

Section: Introductionmentioning

confidence: 99%

Selection of EMG Sensors Based on Motion Coordinated Analysis

Liu

Xuan

Zhang

et al. 2021

Sensors

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The intelligent prosthesis driven by electromyography (EMG) signal provides a solution for the movement of the disabled. The proper position of EMG sensors can improve the prosthesis’s motion recognition ability. To exert the amputee’s action-oriented ability and the prosthesis’ control ability, the EMG spatial distribution and internal connection of the prosthetic wearer is analyzed in three kinds of movement conditions: appropriate angle, excessive angle, and angle too small. Firstly, the correlation characteristics between the EMG channels are analyzed by mutual information to construct a muscle functional network. Secondly, the network’s features of different movement conditions are analyzed by calculating the characteristic of nodes and evaluating the importance of nodes. Finally, the convergent cross-mapping method is applied to construct a directed network, and the critical muscle groups which can reflect the user’s movement intention are determined. Experiment shows that this method can accurately determine the EMG location and simplify the distribution of EMG sensors inside the prosthetic socket. The network characteristics of key muscle groups can distinguish different movements effectively and provide a new strategy for decoding the relationship between limb nerve control and body movement.

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“…Exoskeleton robot is a wearable robot that can be used to enhance people's ability, realize the rehabilitation training of patients, and assist people in various operations. Exoskeletons are of interest for the researchers in the field of robotics and automatic control [1,2]. In general, there are two kinds of exoskeleton robots, the rehabilitation exoskeleton and the enhancing physical capacity exoskeleton.…”

Section: Introductionmentioning

confidence: 99%

Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Qin

Liu

2021

Discrete Dynamics in Nature and Society

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Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.

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Design and Validation of a Lower-Limb Haptic Rehabilitation Robot

Cited by 17 publications

References 47 publications

Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission

Active Loading Control Design for a Wearable Exoskeleton with a Bowden Cable for Transmission

Selection of EMG Sensors Based on Motion Coordinated Analysis

Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

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