Robotic orthoses for gait rehabilitation: An overview of mechanical design and control strategies

Jamwal, Prashant K.; Hussain, Shahid; Ghayesh, Mergen H.

doi:10.1177/0954411919898293

Cited by 23 publications

(14 citation statements)

References 87 publications

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“…The World Health Organization (WHO) reported “stroke” as one of the principal reasons for nearly 5 million people's fatality through 2000-2016 and the third pioneering source of debility throughout the world [ 1 ]. To address the concerns of motor functionality in the lower body caused by neurological disorders, researchers have developed many robot-based lower limb exoskeleton devices to produce therapeutic effects during walking [ 2 , 3 ]. In a recent work by Kalita et al [ 4 ], a systematic yet comprehensive review has been carried out on the state-of-the-art developments of such multijoint and single-joint exoskeleton devices for gait rehabilitation, mobility aid, and strength amplification.…”

Section: Introductionmentioning

confidence: 99%

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Narayan

Dwivedy

2021

Applied Bionics and Biomechanics

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The design of an accurate control scheme for a lower limb exoskeleton system has few challenges due to the uncertain dynamics and the unintended subject’s reflexes during gait rehabilitation. In this work, a robust linear quadratic regulator- (LQR-) based neural-fuzzy (NF) control scheme is proposed to address the effect of payload uncertainties and external disturbances during passive-assist gait training. Initially, the Euler-Lagrange principle-based nonlinear dynamic relations are established for the coupled system. The input-output feedback linearization approach is used to transform the nonlinear relations into a linearized state-space form. The architecture of the adaptive neuro-fuzzy inference system (ANFIS) and used membership function are briefly explained. While varying mass parameters up to 20%, three robust neural-fuzzy datasets are formulated offline with the joint error vector and LQR control input. Thereafter, to deal with external interferences, an error dynamics with a disturbance estimator is presented using an online adaptation of the firing strength matrix. The Lyapunov theory is carried out to ensure the asymptotic stability of the coupled human-exoskeleton system in view of the proposed controller. The gait tracking results for the proposed control scheme (RLQR-NF) are presented and compared with the exponential reaching law-based sliding mode (ERL-SM) controller. Furthermore, to investigate the robustness of the proposed control over LQR control, a comparative performance analysis is presented for two cases of parametric uncertainties and external disturbances. The first case considers the 20% raise in mass values with a trigonometric form of disturbances, and the second case includes the effect of the 30% increment in mass values with a random form of disturbances. The simulation runs have shown the promising gait tracking aspects of the designed controller for passive-assist gait training.

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Section: Introductionmentioning

confidence: 99%

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Narayan

Dwivedy

2021

Applied Bionics and Biomechanics

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“…Control of the exoskeleton is another key element during the development stage. State of the art of control algorithms developed for different types of exoskeletons are presented in various works [14,[86][87][88][89]. The control of robotic upper limb exoskeletons can be categorized based on the type of control algorithm used and the type of activities assisted by using the control algorithm.…”

Section: Controlmentioning

confidence: 99%

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

2020

Self Cite

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The number of older people is growing rapidly around the world. Ageing process results in reduced or restricted mobility which is essential to perform activities of daily living. Currently, there are numerous powered assistive exoskeletons commercially available as well as are being developed to support and rehabilitate lower limbs. Significant attention is also been given to develop upper limb rehabilitation devices, however the question of what kind of assistive devices can be used by elderly group of people for their upper limbs and what technical characteristics they should incorporate is not properly researched. This paper presents the state of the art of currently available assistive exoskeletons which can be exploited to support the motions of upper limbs of elderly to perform activities of daily living. Mechanism type, degrees of freedom, type actuators and materials selected for the fabrication of these porotypes are presented in detail. Also, the type of control systems utilized for these upper limb exoskeletons are discussed in detail with the insight on the feedback signal methods. A detailed discussion on the challenges in the fields of mechanism development, actuation and control for these upper limb powered exoskeletons is presented with the opportunities for future technological developments.

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“…Various reviews have been published in the literature on the topic of actuation and control strategies of lower limb robot exoskeletons. 2,[8][9][10][11][12][13] However, none of these reviews consider the manufacturing methods and materials used for the prototyping of lower limb robot exoskeletons. It is important to mention here that the manufacturing methods and materials used for these exoskeletons hold equal importance in this field of research.…”

Section: Introductionmentioning

confidence: 99%

Exoskeleton robots for lower limb assistance: A review of materials, actuation, and manufacturing methods

Hussain

Goecke

Mohammadian

2021

Proc Inst Mech Eng H

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The field of robot-assisted physical rehabilitation and robotics technology for providing support to the elderly population is rapidly evolving. Lower limb robot aided rehabilitation and assistive technology have been a focus for the engineering community during the last three decades as several robotic lower limb exoskeletons have been proposed in the literature as well as some being commercially available. Numerous manufacturing techniques and materials have been developed for lower limb exoskeletons during the last two decades, resulting in the design of a variety of robot exoskeletons for gait assistance for elderly and disabled people. One of the most important aspects of developing exoskeletons is the selection of the most appropriate proper material. The material selection strongly influences the overall weight and performance of the exoskeleton robot. The most suitable fabrication method for material is also an important parameter for the development of lower limb robot exoskeletons. In addition to the materials and manufacturing methods, the actuation method plays a vital role in the development of these robot exoskeletons. Even though various materials, manufacturing methods and actuators are reported in the literature for these lower limb robot exoskeletons, there are still avenues of improvement in these three domains. In this review, we have examined various lower limb robotic exoskeletons, concentrating on the three main aspects of material, manufacturing, and actuation. We have focused on the advantages and drawbacks of various materials and manufacturing practices as well as actuation methods. A discussion on future directions of research is provided for the engineering community covering the material, manufacturing and actuation methods.

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Robotic orthoses for gait rehabilitation: An overview of mechanical design and control strategies

Cited by 23 publications

References 87 publications

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

Exoskeleton robots for lower limb assistance: A review of materials, actuation, and manufacturing methods

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