Robust Nonlinear Control of an Intrinsically Compliant Robotic Gait Training Orthosis

Hussain, Shahid; Xie, Shane; Jamwal, Prashant K.

doi:10.1109/tsmca.2012.2207111

Cited by 74 publications

(45 citation statements)

References 40 publications

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“…However, this lower-limb orthosis system is still in the early development stage of design improvement; therefore, further evaluation on system performance has yet to be concluded. [50]; and (c) a six degrees of freedom (DOF) robotic orthosis for rehabilitation [52].…”

Section: It Was Developed In 2006 As Shown Inmentioning

confidence: 99%

“…Recently, in 2013, Hussain et al, invented a six degree of freedom robotic orthosis for gait rehabilitation to encourage patients' voluntary contribution in the robotic gait training process, as shown in Figure 8c [51,52]. It implements four pneumatic muscle actuators, which are arranged as two pairs of antagonistic mono-articular muscles at the hip and knee joint angles.…”

Section: It Was Developed In 2006 As Shown Inmentioning

confidence: 99%

“…Additionally, the result findings demonstrated that an increase/decrease in the human's voluntary participation during gait training will result in a decrease/increase of robotic assistance. Adaptive impedance control using boundary-layer-augmented sliding mode control (BASMC) [51,52] Table 1 shows the comparison of existing pneumatic muscle actuated lower-limb rehabilitation orthosis systems. Based on the evaluations of these systems for the past 10 years, it can be concluded that researchers' interests shifted to the implementation of the natural compliant-type actuators (i.e., McKibben muscle, rubbertuators, air muscle, PAM, PMA, etc.).…”

Section: It Was Developed In 2006 As Shown Inmentioning

confidence: 99%

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Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

2014

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Abstract:It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA) and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM) or pneumatic muscle actuators (PMA). It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

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Section: It Was Developed In 2006 As Shown Inmentioning

confidence: 99%

Section: It Was Developed In 2006 As Shown Inmentioning

confidence: 99%

Section: It Was Developed In 2006 As Shown Inmentioning

confidence: 99%

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Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

2014

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“…Thus, the applications of PAM in rehabilitation robotics field are growing despite the inherent drawbacks such as hysteresis, compressibility and time variance which yield extreme difficulties in constructing an accurate mathematical model. Various prototype systems have been developed in research centers [11][12][13][14][15][16][17][18][19][20][21][22]. To handle the nonlinear behavior of the PAM, a three-element model [23] based on the sliding mode control (SMC) has been considered as a good choice for tracking control of both single PAM [24] and robots powered by PAMs [14,15,[18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Dao

Yamamoto

2018

Applied Sciences

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Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects' lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.

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“…Recently, the exoskeleton is increasingly used for powerassisting in industrial [1,2], medical [3][4][5], and military [6,7] areas. 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].…”

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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Robust Nonlinear Control of an Intrinsically Compliant Robotic Gait Training Orthosis

Cited by 74 publications

References 40 publications

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton

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