Wearable lower limb robotics: A review

Vítečková, Slávka; Kutílek, Patrik; Jirina, Marcel

doi:10.1016/j.bbe.2013.03.005

Cited by 194 publications

(101 citation statements)

References 23 publications

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“…cover the largest ranges of values) and a tremendously affect inertial forces. The knee angle and hip angle in the sagittal plane are common angles used to study gait [23]. It is not necessary to normalize the data because the standard ranges of angles are the same for the three planes of the body in all adults if the 3DOF orientation tracker placed on the same segment (i.e.…”

Section: Introductionmentioning

confidence: 99%

Analysis and prediction of upper extremity movements by cyclograms

2014

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AbstractQuantification of upper extremity movement is a common objective in both research and clinical practice. Currently, methods based on angle-angle diagrams, also called cyclograms, seem to be promising. Nevertheless, compared to the study of lower limbs, the concept of angle-angle diagrams has not been systematically used to study upper limb movements during walking. The paper describes two examples of new methods based on angle-angle diagrams for application in rehabilitation and assistive robotics. The cyclograms represent information about the relationship between the angles and their changes over time. We used cyclograms as patterns for learning artificial neural networks and predicting the movement of upper-limb. Together with artificial intelligence, cyclograms offer wide scope of application in prosthesis control systems. Using bilateral cyclogram, the information about the relationship between the right and left arm joint angles is used to evaluate the symmetry of movements. The method based on the orientation of the bilateral cyclogram can be used as an additional method for determining the symmetry of movements of the upper limbs or exo-prosthesis.

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Section: Introductionmentioning

confidence: 99%

Analysis and prediction of upper extremity movements by cyclograms

2014

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“…로봇산업이 발달하면서 로봇은 산업현장에서 뿐만 아니라 생활 속에 공존하는 존재로 자리매김을 하게 되 었다 [1][2][3]. 로봇은 상황에 따라서 저임피던스와 고임피 던스를 갖도록 해야한다 [4][5][6].…”

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Robust Tracking and Human-Compliance Control Using Integral SMC and DOB

어시그네시온¹,

Chan²,

Kwak³

et al. 2017

Journal of the Korea Institute of Information and Communication

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The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.

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“…This purpose is realized by providing a supplementary force to the legs (Viteckova et al, 2013). Due to the increased interest upon the development of rehabilitation procedures based on mechatronic and robotic technologies, in recent years, many review studies which evaluate the progress and future directions in rehabilitation, were published (Onose et al, 2013;Young et al, 2017;Chen et al, 2013;Lajeunesse et al, 2016 andLouie et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Design and evaluation of a new exoskeleton for gait rehabilitation

Geonea

Tarniţă

2017

Mech. Sci.

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Abstract. This work addresses the design and numerical characterization of a new exoskeleton solution for human leg motion assistance and rehabilitation. The exoskeleton solution is anthropomorphic, simple, low cost and easy to adapt on the human subject. The design aspect concerns the exoskeleton mechatronic structure, achieved in SolidWorks virtual environment. Numerical simulation is performed in MSC.ADAMS simulation environment. Obtained results for the exoskeleton computed motion are compared with those obtained from experimental walking of healthy subject. The prototype feasibility is studied both for design and operation aspect.

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Wearable lower limb robotics: A review

Cited by 194 publications

References 23 publications

Analysis and prediction of upper extremity movements by cyclograms

Analysis and prediction of upper extremity movements by cyclograms

Robust Tracking and Human-Compliance Control Using Integral SMC and DOB

Design and evaluation of a new exoskeleton for gait rehabilitation

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