Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

Quy Thinh Dao, Shinichirou Yamamoto

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

Abstract

Rehabilitation robots may help the patient improve their recovery by supporting them to perform repetitive, systematic training sessions. Safety and comfortable feeling of the patients who training with robots is an important issue in not only the steady state but also the transient process. In this research, the trajectory tracking control problems of a two-degrees of freedom (2-DOF) robotic orthosis is discussed. The robotic orthosis is powered by pneumatic artificial muscles (PAMs) in an antagonistic configuration. based on a mathematical model, a modified computed torque control scheme is employed to enhance the tracking performance. The effectiveness of the proposed control strategy is verified by the experiments with the participation of different subjects.

Original languageEnglish
Title of host publication40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1719-1722
Number of pages4
Volume2018-July
ISBN (Electronic)9781538636466
DOIs
Publication statusPublished - 2018 Oct 26
Event40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 - Honolulu, United States
Duration: 2018 Jul 182018 Jul 21

Other

Other40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
CountryUnited States
CityHonolulu
Period18/7/1818/7/21

Fingerprint

Torque control
Patient rehabilitation
Robotics
Robots
Degrees of freedom (mechanics)
Pneumatics
Muscle
Trajectories
Mathematical models
Recovery
Experiments

Keywords

  • bi-articular muscle.
  • computed torque control
  • Gait training device
  • pneumatic artificial muscle
  • robot orthosis

ASJC Scopus subject areas

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

Cite this

Dao, Q. T., & Yamamoto, S. (2018). Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. In 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 (Vol. 2018-July, pp. 1719-1722). [8512608] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2018.8512608

Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. / Dao, Quy Thinh; Yamamoto, Shinichirou.

40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. p. 1719-1722 8512608.

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

Dao, QT & Yamamoto, S 2018, Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. in 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. vol. 2018-July, 8512608, Institute of Electrical and Electronics Engineers Inc., pp. 1719-1722, 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018, Honolulu, United States, 18/7/18. https://doi.org/10.1109/EMBC.2018.8512608
Dao QT, Yamamoto S. Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. In 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. Vol. 2018-July. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1719-1722. 8512608 https://doi.org/10.1109/EMBC.2018.8512608
Dao, Quy Thinh ; Yamamoto, Shinichirou. / Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1719-1722
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