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 proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publicationProceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
PublisherAssociation for Computing Machinery
Pages85-89
Number of pages5
ISBN (Print)9781450352680
DOIs
Publication statusPublished - 2017 Aug 23
Event2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017 - Kitakyushu, Japan
Duration: 2017 Aug 232017 Aug 25

Other

Other2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
CountryJapan
CityKitakyushu
Period17/8/2317/8/25

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

Fingerprint Dive into the research topics of 'Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle'. Together they form a unique fingerprint.

  • Cite this

    Dao, Q. T., 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 (pp. 85-89). Association for Computing Machinery. https://doi.org/10.1145/3133793.3133810