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

Quy Thinh Dao, Shinichirou Yamamoto

研究成果: Article

5 引用 (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.

元の言語English
記事番号499
ジャーナルApplied Sciences (Switzerland)
8
発行部数4
DOI
出版物ステータスPublished - 2018 3 26

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gait
pneumatics
muscles
robotics
Patient rehabilitation
Pneumatics
Muscle
Robotics
Compliance control
Trajectories
Robots
Torque control
limbs
robots
education
Actuators
trajectories
Derivatives
disabilities
Control systems

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

これを引用

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