Design and evaluation of the AIRGAIT exoskeleton: Leg orthosis control for assistive gait rehabilitation

Mohd Azuwan Mat Dzahir, Shin Ichiroh Yamamoto

研究成果: Article査読

9 被引用数 (Scopus)

抄録

This paper introduces the body weight support gait training system known as the AIRGAIT exoskeleton and delves into the design and evaluation of its leg orthosis control algorithm. The implementation of the mono- and biarticular pneumatic muscle actuators (PMAs) as the actuation system was initiated to generate more power and precisely control the leg orthosis. This research proposes a simple paradigm for controlling the mono- and bi-articular actuator movements cocontractively by introducing a cocontraction model. Three tests were performed. The first test involved control of the orthosis with monoarticular actuators alone without a subject (WO/S); the second involved control of the orthosis with mono- and bi-articular actuators tested WO/S; and the third test involved control of the orthosis with mono- and bi-articular actuators tested with a subject (W/S). Full body weight support (BWS) was implemented in this study during the test W/S as the load supported by the orthosis was at its maximum capacity. This assessment will optimize the control system strategy so that the system operates to its full capacity. The results revealed that the proposed control strategy was able to co-contractively actuate the mono- and bi-articular actuators simultaneously and increase stiffness at both hip and knee joints.

本文言語English
論文番号535106
ジャーナルJournal of Robotics
2013
DOI
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンス(全般)

フィンガープリント

「Design and evaluation of the AIRGAIT exoskeleton: Leg orthosis control for assistive gait rehabilitation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル