Design of a new hybrid control and knee orthosis for human walking and rehabilitation

Huang, Tzung-Chi; Huang, Han; Cheng, Ching-An; Kuan, Jiun-Yih; Lee, Po-Ting; Huang, Shih-Yi

doi:10.1109/iros.2012.6386079

Cited by 9 publications

(7 citation statements)

References 13 publications

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“…Impedance controllers have been implemented in different classes of active rehabilitation robots: active exoskeletons [8], [19]- [22], active prostheses [23]- [27], assistance platforms for therapies [28]- [31], and manipulators [32]- [33].…”

Section: Implementation Requirementsmentioning

confidence: 99%

“…Dynamic characteristics as velocity and bandwidth are well performed by the impedance control and are not affected by the joint actuated. Impedance control was implemented in rehabilitation robots designed to act on : knee ( [19], [20], [29], [35]), ankle ( [21], [23]- [27], [30]), hips ( [17], [36], [37]). …”

Section: A Biomechanical Considerationsmentioning

confidence: 99%

“…Characteristics of the rehabilitation system must be different depending on the biomechanical functions to recover, but controllers are similar for all of them. Impedance control was applied to mobility and speed recovery ( [23], [24], [26], [29], [35]) and to walking ability recovery ( [8], [19], [17], [22], [37]). The range of values for damping and stiffness and the bandwidth require for the system may be different between these functions (see Section VI-B).…”

Section: A Biomechanical Considerationsmentioning

confidence: 99%

“…Each lower limb can be modeled with eight DOF plus four of the pelvis. The impedance control was implemented in one ( [19], [23], [29]), two ([24]- [26]), three ([20]- [21], [33]- [38]), four [17] and eight [22] DOF.…”

Section: A Biomechanical Considerationsmentioning

confidence: 99%

“…Other actuators have been implemented: DC direct-drive motors [35]. PMAs (Pneumatic Muscle Actuator), a lightweight actuator that have a high power/weight rate compared to the other actuators [8]; BTSA (Back-drivable Torsion Spring Actuator), made with a DC motor in series with a bevel gear and a torsion spring [19]; a brushless AC servo motor with a transmission cable, which in addition to reducing the transmission rate also decreases backlash and friction [29]. Finally, serial configurations are useful in systems with geometric constraints: a force controllable SEA (Series Elastic Actuator) was implemented in [23], this actuator consists of a DC motor in series with a spring structure using a mechanical transmission; in [45] the authors played a SEA [46] into an ankle orthosis with variable impedance.…”

Section: B Sensors and Actuatorsmentioning

confidence: 99%

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Impedance Control of Rehabilitation Robots for Lower Limbs, Review

Ibarra

Siqueira

2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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Impedance control is commonly used in rehabilitation robots to maintain the human-robot interaction force below safe levels for the patient, and simultaneously, to control the limb position according to the desired trajectories determined by the therapy. Impedance control aims to regulate the dynamic relationship between the robot force and the actuator movement. On the other hand, design of rehabilitation robots for lower limbs demands specific features that come from their biomechanical functions as weight bearing and locomotion. This paper aims to review the main features for implementing an impedance control in a lower limb rehabilitation robot. Initially, we present a general formulation of the impedance control starting from the dynamic equations toward the most basic forms of this controller. We emphasize that impedance control enable real-time variations in the amount of assistance via the variation of the impedance parameters (inertia, damping and stiffness) of the controller without significant problems of stability. Control performance does not only depend on the control schemes but also a good selection of all the elements of the control loop, including sensors and actuators. We review on the most commonly used actuators for impedance controlled robots. Finally, we addressed the main challenges and limitations for research and development of most efficient implementations and indicates the most relevant trends that literature evidence.

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