Adaptive impedance control of a robotic orthosis actuated by pneumatic artificial muscle

Quy Thinh Dao, Shin Ichiroh Yamamoto

研究成果: Conference article査読

3 被引用数 (Scopus)


In recent years, rehabilitation robots which help the neurological impaired patient regain the function of the lower limb via training sessions have been developed with great attention. Since these types of robot interact closely with humans, safety is always the top priority considered in the design. Besides, the compliance of the robot must also be controlled to give the subject the best comforts. To fulfill the above mentioned requirements, a two degrees of freedom (2-DOF) robotic orthosis power by pneumatic artificial muscles (PAMs) based on the human musculoskeletal system is developed in this study. The system is able to track any desired trajectories by using a computed torque control strategy. The impedance controller is also integrated into the system to adapt the robot compliance according to the external force. The feasibility and effectiveness of the developed system are verified by experiments.

ジャーナルIFMBE Proceedings
出版ステータスPublished - 2018
イベントWorld Congress on Medical Physics and Biomedical Engineering, WC 2018 - Prague, Czech Republic
継続期間: 2018 6 32018 6 8

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

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