Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle

Quy Thinh Dao; Moriko Hagiwara; Shinichirou Yamamoto

doi:10.1145/3133793.3133810

Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle

Quy Thinh Dao, Moriko Hagiwara, Shinichirou Yamamoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

In this study, a robotic orthosis for lower-limb rehabilitation training is developed. The robot includes two hip and knee joints. Each joint is actuated by a pneumatic artificial muscle (PAM) in an antagonistic configuration. The bi-articular muscles are used to increase the stiffness of robotic orthosis. The robotic orthosis is evaluated not only by comparing to the normal human walking but also in trajectory tracking control mode. The experiment results show that the angle trajectory of the robotic orthosis is closed to the trajectory of normal human walking and it can also guide the subject to it designated trajectory.

Original language	English
Title of host publication	Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
Publisher	Association for Computing Machinery
Pages	85-89
Number of pages	5
ISBN (Print)	9781450352680
DOIs	https://doi.org/10.1145/3133793.3133810
Publication status	Published - 2017 Aug 23
Event	2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017 - Kitakyushu, Japan Duration: 2017 Aug 23 → 2017 Aug 25

Other

Other	2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
Country/Territory	Japan
City	Kitakyushu
Period	17/8/23 → 17/8/25

Keywords

Gait training device
Pneumatic artificial muscle
Robot orthosis

ASJC Scopus subject areas

Human-Computer Interaction
Computer Networks and Communications
Computer Vision and Pattern Recognition
Software

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10.1145/3133793.3133810

Cite this

Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. / Dao, Quy Thinh; Hagiwara, Moriko; Yamamoto, Shinichirou.

Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017. Association for Computing Machinery, 2017. p. 85-89.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dao, QT, Hagiwara, M & Yamamoto, S 2017, Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. in Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017. Association for Computing Machinery, pp. 85-89, 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017, Kitakyushu, Japan, 17/8/23. https://doi.org/10.1145/3133793.3133810

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title = "Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle",

abstract = "In this study, a robotic orthosis for lower-limb rehabilitation training is developed. The robot includes two hip and knee joints. Each joint is actuated by a pneumatic artificial muscle (PAM) in an antagonistic configuration. The bi-articular muscles are used to increase the stiffness of robotic orthosis. The robotic orthosis is evaluated not only by comparing to the normal human walking but also in trajectory tracking control mode. The experiment results show that the angle trajectory of the robotic orthosis is closed to the trajectory of normal human walking and it can also guide the subject to it designated trajectory.",

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AB - In this study, a robotic orthosis for lower-limb rehabilitation training is developed. The robot includes two hip and knee joints. Each joint is actuated by a pneumatic artificial muscle (PAM) in an antagonistic configuration. The bi-articular muscles are used to increase the stiffness of robotic orthosis. The robotic orthosis is evaluated not only by comparing to the normal human walking but also in trajectory tracking control mode. The experiment results show that the angle trajectory of the robotic orthosis is closed to the trajectory of normal human walking and it can also guide the subject to it designated trajectory.

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Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle

Abstract

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Keywords

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