Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation

Meng, Wei; Liu, Quan; Zhou, Zude; Ai, Qing; Sheng, Bo; Xie, Shane

doi:10.1016/j.mechatronics.2015.04.005

Cited by 376 publications

(172 citation statements)

References 81 publications

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“…So when there is no interaction force in the pneumatic muscle, only position control will exist and the force control is meaningless [15]. However, when the pneumatic muscle interacts with the outside world and drives the robot to move, the interaction force e f must be considered, which can be measured by the force sensor of each driven joint.…”

Section: Robot Platformmentioning

confidence: 99%

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhang

et al. 2017

Intelligent Robotics and Applications

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Abstract. Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.

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Section: Robot Platformmentioning

confidence: 99%

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhang

et al. 2017

Intelligent Robotics and Applications

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“…Robotic assistance of the lower extremity has been investigated in terms of performing repetitive training exercises precisely to train the gait (Meng et al, 2015) or in terms of decreasing the physical load when walking in daily life (Young et al, 2017). Assistance robots are designed for impaired Esquenazi et al, 2012) and able-bodied (Collins et al, 2012;Mooney et al, 2014) people.…”

Section: Introductionmentioning

confidence: 99%

Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot

Miyake

Kobayashi

Fujie

et al. 2018

Mechanical Engineering Journal

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We propose an effective timing of intermittent force application by a gait assistance robot with a wire-driven system to increase the toe trajectory throughout the swing phase. We tested different timings of force application at the shank, employing the short-term assistance of the robot to increase toe clearance throughout the swing phase. The force was applied to the shank to generate knee flexion torque because the shank motion generated by the knee flexion motion makes the largest contribution to toe clearance. Four timings of the force application were considered: when starting knee flexion before toe-off, when lifting the foot, while maintaining knee flexion after toe-off, and when finishing knee flexion after toe-off. Furthermore, we evaluated changes in the toe trajectory and articular angles of the lower limb for each timing condition. We used a timing detection method for the robot conducting tensile force control based on information from the hip, knee, and ankle angles. For all participants, an increase in the knee flexion angle in the early swing phase due to the force application increased the toe clearance throughout the swing phase. We thus conclude that force application when the user begins lifting their toe is effective in increasing toe clearance throughout the swing phase.

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“…The human operator provides locomotion intention and a small muscle strength while the robot can help human complete the desired action with a suitable torque through replicating the operator's movements [2]. The robot in such applications has been actively researched since 1990s, and some of them have been applied for various environments [8]. However, there are challenging problems in exoskeleton research such as the establishment of coupling model of human-robot system and designing of control strategy.…”

Section: Introductionmentioning

confidence: 99%

Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton

Yang

Zhang

Wang

et al. 2017

Mathematical Problems in Engineering

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A command filter adaptive fuzzy backstepping control strategy is proposed for lower-limb assisting exoskeleton. Firstly, the humanrobot model is established by taking the human body as a passive part, and a coupling torque is introduced to describe the interaction between the exoskeleton and human leg. Then, Vicon motion capture system is employed to obtain the reference trajectory. For the purpose of obviating the "explosion of complexity" in conventional backstepping, a second-order command filter is introduced into the sliding mode control strategy. The fuzzy logic systems (FLSs) are also applied to handle with the chattering problem by estimating the uncertainties and disturbances. Furthermore, the stability of the closed-loop system is proved based on the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the control strategy.

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Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation

Abstract: This is a repository copy of Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation.

Cited by 376 publications

References 81 publications

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot

Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton

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