Development of body weight support gait training system using pneumatic mckibben actuators -Control of Lower Extremity Orthosis-

M. A. Mat Dzahir, T. Nobutomo, Shinichirou Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, the control system of lower extremity orthosis for the body weight support gait training system which implements pneumatic artificial muscle (PAM) is proposed. The hip and knee joint angles of the gait orthosis system are controlled based on the PAM coordinates information from the simulation. This information provides the contraction data for the mono- and bi-articular PAMs that are arranged as posterior and anterior actuators to simulate the human walking motion. The proposed control system estimates the actuators' contraction as a function of hip and knee joint angles. Based on the contraction model obtained, input pressures for each actuators are measured. The control system are performed at different gait cycles and two PMA settings for the mono- and bi-articular actuators are evaluated in this research. The results showed that the system was able to achieve the maximum muscle moment at the joints, and able to perform the heel contact movement. This explained that the antagonistic mono- and bi-articular actuators worked effectively.

Original languageEnglish
Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages6417-6420
Number of pages4
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka
Duration: 2013 Jul 32013 Jul 7

Other

Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
CityOsaka
Period13/7/313/7/7

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Keywords

  • bi-articular actuators
  • contraction model based controller
  • Mono-articular actuators
  • pneumatic artificial muscle

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

Cite this

Mat Dzahir, M. A., Nobutomo, T., & Yamamoto, S. (2013). Development of body weight support gait training system using pneumatic mckibben actuators -Control of Lower Extremity Orthosis-. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 6417-6420). [6611023] https://doi.org/10.1109/EMBC.2013.6611023