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

Fingerprint

Patient rehabilitation
Pneumatics
Muscle
Robotics
Trajectories
Stiffness
Robots
Experiments

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

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

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 proceedingConference 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
Dao QT, Hagiwara M, Yamamoto S. 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. 2017. p. 85-89 https://doi.org/10.1145/3133793.3133810
Dao, Quy Thinh ; Hagiwara, Moriko ; Yamamoto, Shinichirou. / Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017. Association for Computing Machinery, 2017. pp. 85-89
@inproceedings{b88581e46511445e8a8925f05cbf03a4,
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.",
keywords = "Gait training device, Pneumatic artificial muscle, Robot orthosis",
author = "Dao, {Quy Thinh} and Moriko Hagiwara and Shinichirou Yamamoto",
year = "2017",
month = "8",
day = "23",
doi = "10.1145/3133793.3133810",
language = "English",
isbn = "9781450352680",
pages = "85--89",
booktitle = "Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017",
publisher = "Association for Computing Machinery",

}

TY - GEN

T1 - Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle

AU - Dao, Quy Thinh

AU - Hagiwara, Moriko

AU - Yamamoto, Shinichirou

PY - 2017/8/23

Y1 - 2017/8/23

N2 - 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.

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.

KW - Gait training device

KW - Pneumatic artificial muscle

KW - Robot orthosis

UR - http://www.scopus.com/inward/record.url?scp=85052711756&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85052711756&partnerID=8YFLogxK

U2 - 10.1145/3133793.3133810

DO - 10.1145/3133793.3133810

M3 - Conference contribution

AN - SCOPUS:85052711756

SN - 9781450352680

SP - 85

EP - 89

BT - Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017

PB - Association for Computing Machinery

ER -