Recent trends in lower-limb robotic rehabilitation orthosis

Control scheme and strategy for pneumatic muscle actuated gait trainers

Mohd Azuwan Mat Dzahir, Shinichirou Yamamoto

Research output: Contribution to journalReview article

56 Citations (Scopus)

Abstract

It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA) and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM) or pneumatic muscle actuators (PMA). It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

Original languageEnglish
Pages (from-to)120-148
Number of pages29
JournalRobotics
Volume3
Issue number2
DOIs
Publication statusPublished - 2014 Jun 1

Fingerprint

Patient rehabilitation
Pneumatics
Muscle
Robotics
Actuators
Linear actuators
AC motors
Servomotors
DC motors
Air

Keywords

  • Co-contraction strategy of antagonistic actuators
  • Pneumatic muscle-type actuators

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

Cite this

Recent trends in lower-limb robotic rehabilitation orthosis : Control scheme and strategy for pneumatic muscle actuated gait trainers. / Dzahir, Mohd Azuwan Mat; Yamamoto, Shinichirou.

In: Robotics, Vol. 3, No. 2, 01.06.2014, p. 120-148.

Research output: Contribution to journalReview article

@article{fe670ece4065495b91d0ca3bebb07e3f,
title = "Recent trends in lower-limb robotic rehabilitation orthosis: Control scheme and strategy for pneumatic muscle actuated gait trainers",
abstract = "It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA) and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM) or pneumatic muscle actuators (PMA). It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.",
keywords = "Co-contraction strategy of antagonistic actuators, Pneumatic muscle-type actuators",
author = "Dzahir, {Mohd Azuwan Mat} and Shinichirou Yamamoto",
year = "2014",
month = "6",
day = "1",
doi = "10.3390/robotics3020120",
language = "English",
volume = "3",
pages = "120--148",
journal = "Robotics",
issn = "2218-6581",
publisher = "MDPI AG",
number = "2",

}

TY - JOUR

T1 - Recent trends in lower-limb robotic rehabilitation orthosis

T2 - Control scheme and strategy for pneumatic muscle actuated gait trainers

AU - Dzahir, Mohd Azuwan Mat

AU - Yamamoto, Shinichirou

PY - 2014/6/1

Y1 - 2014/6/1

N2 - It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA) and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM) or pneumatic muscle actuators (PMA). It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

AB - It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA) and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM) or pneumatic muscle actuators (PMA). It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

KW - Co-contraction strategy of antagonistic actuators

KW - Pneumatic muscle-type actuators

UR - http://www.scopus.com/inward/record.url?scp=85035334491&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85035334491&partnerID=8YFLogxK

U2 - 10.3390/robotics3020120

DO - 10.3390/robotics3020120

M3 - Review article

VL - 3

SP - 120

EP - 148

JO - Robotics

JF - Robotics

SN - 2218-6581

IS - 2

ER -