Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle

Quy Thinh Dao; Moriko Hagiwara; Shin Ichiroh Yamamoto

doi:10.1145/3133793.3133810

Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle

Quy Thinh Dao, Moriko Hagiwara, Shin Ichiroh Yamamoto

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In this study, a robotic orthosis for lower-limb rehabilitation training is developed. The robot includes two hip and knee joints. Each joint is actuated by a pneumatic artificial muscle (PAM) in an antagonistic configuration. The bi-articular muscles are used to increase the stiffness of robotic orthosis. The robotic orthosis is evaluated not only by comparing to the normal human walking but also in trajectory tracking control mode. The experiment results show that the angle trajectory of the robotic orthosis is closed to the trajectory of normal human walking and it can also guide the subject to it designated trajectory.

本文言語	English
ホスト出版物のタイトル	Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
出版社	Association for Computing Machinery
ページ	85-89
ページ数	5
ISBN（印刷版）	9781450352680
DOI	https://doi.org/10.1145/3133793.3133810
出版ステータス	Published - 2017 8月 23
イベント	2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017 - Kitakyushu, Japan 継続期間: 2017 8月 23 → 2017 8月 25

出版物シリーズ

名前	ACM International Conference Proceeding Series

Other

Other	2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
国/地域	Japan
City	Kitakyushu
Period	17/8/23 → 17/8/25

ASJC Scopus subject areas

ソフトウェア
人間とコンピュータの相互作用
コンピュータビジョンおよびパターン認識
コンピュータネットワークおよび通信

文献へのアクセス

10.1145/3133793.3133810

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引用スタイル

Dao, Q. T., Hagiwara, M., & Yamamoto, S. I. (2017). Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. In Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017 (pp. 85-89). (ACM International Conference Proceeding Series). Association for Computing Machinery. https://doi.org/10.1145/3133793.3133810

Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. / Dao, Quy Thinh; Hagiwara, Moriko; Yamamoto, Shin Ichiroh.

Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017. Association for Computing Machinery, 2017. p. 85-89 (ACM International Conference Proceeding Series).

研究成果: Conference contribution

Dao, QT, Hagiwara, M & Yamamoto, SI 2017, Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. in Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017. ACM International Conference Proceeding Series, Association for Computing Machinery, pp. 85-89, 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017, Kitakyushu, Japan, 17/8/23. https://doi.org/10.1145/3133793.3133810

Dao QT, Hagiwara M, Yamamoto SI. Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. In Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017. Association for Computing Machinery. 2017. p. 85-89. (ACM International Conference Proceeding Series). doi: 10.1145/3133793.3133810

Dao, Quy Thinh ; Hagiwara, Moriko ; Yamamoto, Shin Ichiroh. / Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle. Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017. Association for Computing Machinery, 2017. pp. 85-89 (ACM International Conference Proceeding Series).

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abstract = "In this study, a robotic orthosis for lower-limb rehabilitation training is developed. The robot includes two hip and knee joints. Each joint is actuated by a pneumatic artificial muscle (PAM) in an antagonistic configuration. The bi-articular muscles are used to increase the stiffness of robotic orthosis. The robotic orthosis is evaluated not only by comparing to the normal human walking but also in trajectory tracking control mode. The experiment results show that the angle trajectory of the robotic orthosis is closed to the trajectory of normal human walking and it can also guide the subject to it designated trajectory.",

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Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle

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