Assist-as-needed control of a robotic orthosis actuated by pneumatic artificial muscle for gait rehabilitation

Quy Thinh Dao, Shin ichiroh Yamamoto

研究成果: Article査読

22 被引用数 (Scopus)

抄録

Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects' lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.

本文言語English
論文番号499
ジャーナルApplied Sciences (Switzerland)
8
4
DOI
出版ステータスPublished - 2018 3月 26

ASJC Scopus subject areas

  • 材料科学(全般)
  • 器械工学
  • 工学(全般)
  • プロセス化学およびプロセス工学
  • コンピュータ サイエンスの応用
  • 流体および伝熱

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