State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Hasan, Sk; Dhingra, Anoop K.

doi:10.3844/jmrsp.2020.211.235

Cited by 12 publications

(9 citation statements)

References 77 publications

(122 reference statements)

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“…The use of the same robotic assistance that is used for sports rehabilitation both improves the elderly's upper-limb strength and reduces the sports injuries [68] sustained by them [38,39]. This is because these robots can assist the elderly in their progressive resistance training, while monitoring the changes in their physical status during exercise in real-time [20,40]. As shown by their better strength recovery using these methods, compared to traditional recovery training, elderly patients who cannot exercise on their own can improve their muscle strength with the help of these robots [41,69].…”

Section: Better Recovery Of Strength and Endurancementioning

confidence: 99%

The Use of Sports Rehabilitation Robotics to Assist in the Recovery of Physical Abilities in Elderly Patients with Degenerative Diseases: A Literature Review

Wang

Xie

et al. 2023

Healthcare

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The increase in the number of elderly patients with degenerative diseases has brought additional medical and financial pressures, which are adding to the burden on society. The development of sports rehabilitation robotics (SRR) is becoming increasingly sophisticated at the technical level of its application; however, few studies have analyzed how it works and how effective it is in aiding rehabilitation, and fewer individualized exercise rehabilitation programs have been developed for elderly patients. The purpose of this study was to analyze the working methods and the effects of different types of SRR and then to suggest the feasibility of applying SRR to enhance the physical abilities of elderly patients with degenerative diseases. The researcher’s team searched 633 English-language journal articles, which had been published over the past five years, and they selected 38 of them for a narrative literature review. Our summary found the following: (1) The current types of SRR are generally classified as end-effector robots, smart walkers, intelligent robotic rollators, and exoskeleton robots—exoskeleton robots were found to be the most widely used. (2) The current working methods include assistant tools as the main intermediaries—i.e., robots assist patients to participate; patients as the main intermediaries—i.e., patients dominate the assistant tools to participate; and sensors as the intermediaries—i.e., myoelectric-driven robots promote patient participation. (3) Better recovery was perceived for elderly patients when using SRR than is generally achieved through the traditional single-movement recovery methods, especially in strength, balance, endurance, and coordination. However, there was no significant improvement in their speed or agility after using SRR.

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Section: Better Recovery Of Strength and Endurancementioning

confidence: 99%

The Use of Sports Rehabilitation Robotics to Assist in the Recovery of Physical Abilities in Elderly Patients with Degenerative Diseases: A Literature Review

Wang

Xie

et al. 2023

Healthcare

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“…Due to this constraint environment, the term τ � J T λ will be added to dynamic (5) where the Lagrange multiplier λ represents the forces of friction occurring in the plane of contact of the LLE with the ground, and their values are not available for measurement [10]. By using the augmented Euler-Lagrange equations, the constrained dynamic equation of LLE can be obtained as [7]…”

Section: Modeling Of Lower Limb Exoskeleton In Constraintmentioning

confidence: 99%

“…Te main disadvantage of using this manual therapy is making therapists stressed while helping patients to recover their normal motion [2,3]. Tanks to their usefulness and efectiveness, lower limb rehabilitation exoskeletons (LLE) have been undertaken as robot-assisted physical therapy in the last decades as an efcient and excellent electromechanical rehabilitation device for augmentation and for strengthening the function of motion of lower limbs extremities [4,5].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fractional‐Order Super‐Twisting Sliding Mode Controller for Lower Limb Rehabilitation Exoskeleton in Constraint Circumstances Based on the Grey Wolf Optimization Algorithm

Faraj

Maalej

Derbel

et al. 2023

Mathematical Problems in Engineering

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In this work, a lower limb exoskeleton with uncertainties and external disturbances under constrained motion has been controlled by developing a model-free adaptive optimal fractional-ordersuper-twisting sliding mode (AOFSTSM) controller. Contrary to popular existing modeling methods, the modeling of the lower limb exoskeleton has been accomplished in the case of contact with the ground. A fractional-order operator and super-twisting sliding mode control have been combined to achieve an excellent tracking performance, chatter-free control inputs, and robustness to external disturbances and uncertainties. The controller structure is model-independent which has been derived without needing to know the dynamics of the system. An adaptive control strategy has been adopted as an approximating method to evaluate the uncertain dynamics of the system without the necessity for knowing the prior knowledge of the upper bounds. A grey wolf optimization technique has been used to find the optimal values of controller parameters. The stability of the overall system has been investigated and derived from the Lyapunov stability criterion. To validate the effectiveness of our proposed controller structure, a series of comparative simulations have been conducted with optimal fractional-order super-twisting sliding mode (OFSTSM) controller and fractional-order super-twisting sliding mode (FSTSM) controller. The comparative simulations have been also carried out with other types of recently existing control methods and recently existing optimization algorithms. The results of numerical simulations indicate the superiority of the AOFSTSM controller over other types of recently existing optimization algorithms and controllers in terms of tracking error and robustness towards the uncertainties and external disturbances.

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“…Accordingly, Eqs (46, 50 and 51) are reconstructed in the form of S(.) and expressed in Eqs (52)(53)(54)(55).…”

Section: Dynamic Analysis Of Each Actuation Unitmentioning

confidence: 99%

A 3-DoF robotic platform for the rehabilitation and assessment of reaction time and balance skills of MS patients

Tugce

Hocaoğlu²

2023

PLoS ONE

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The central nervous system (CNS) exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance. The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body influence each other if there is a lack of performance in either of them. Any predictable or sudden perturbation may pave the way for the divergence of CoM from equilibrium and inhomogeneous pressure distribution of the body. Such a situation is often observed in the daily lives of Multiple Sclerosis (MS) patients due to their poor APAs and CPAs and induces their falls. The way of minimizing the risk of falls in neurological patients is by utilizing perturbation-based rehabilitation, as it is efficient in the recovery of the balance disorder. In light of the findings, we present the design, implementation, and experimental evaluation of a novel 3 DoF parallel manipulator to treat the balance disorder of MS. The robotic platform allows angular motion of the ankle based on its anthropomorphic freedom. Moreover, the end-effector endowed with upper and lower platforms is designed to evaluate both the pressure distribution of each foot and the CoM of the body, respectively. Data gathered from the platforms are utilized to both evaluate the performance of the patients and used in high-level control of the robotic platform to regulate the difficulty level of tasks. In this study, kinematic and dynamic analyses of the robot are derived and validated in the simulation environment. Low-level control of the first prototype is also successfully implemented through the PID controller. The capacity of each platform is evaluated with a set of experiments considering the assessment of pressure distribution and CoM of the foot-like objects on the end-effector. The experimental results indicate that such a system well-address the need for balance skill training and assessment through the APAs and CPAs.

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State of the Art Technologies for Exoskeleton Human Lower Extremity Rehabilitation Robots

Cited by 12 publications

References 77 publications

The Use of Sports Rehabilitation Robotics to Assist in the Recovery of Physical Abilities in Elderly Patients with Degenerative Diseases: A Literature Review

The Use of Sports Rehabilitation Robotics to Assist in the Recovery of Physical Abilities in Elderly Patients with Degenerative Diseases: A Literature Review

Adaptive Fractional‐Order Super‐Twisting Sliding Mode Controller for Lower Limb Rehabilitation Exoskeleton in Constraint Circumstances Based on the Grey Wolf Optimization Algorithm

A 3-DoF robotic platform for the rehabilitation and assessment of reaction time and balance skills of MS patients

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