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 language | English |
|---|---|
| Pages (from-to) | 120-148 |
| Number of pages | 29 |
| Journal | Robotics |
| Volume | 3 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2014 Jun 1 |
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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 journal › Review article
}
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
AN - SCOPUS:85035334491
VL - 3
SP - 120
EP - 148
JO - Robotics
JF - Robotics
SN - 2218-6581
IS - 2
ER -