TY - GEN
T1 - Design and evaluation of the lower-limb robotic orthosis for gait rehabilitation actuated by pneumatic artificial muscle
AU - Dao, Quy Thinh
AU - Hagiwara, Moriko
AU - Yamamoto, Shin Ichiroh
N1 - Publisher Copyright:
© 2017 Association for Computing Machinery.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - 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.
AB - 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.
KW - Gait training device
KW - Pneumatic artificial muscle
KW - Robot orthosis
UR - http://www.scopus.com/inward/record.url?scp=85052711756&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052711756&partnerID=8YFLogxK
U2 - 10.1145/3133793.3133810
DO - 10.1145/3133793.3133810
M3 - Conference contribution
AN - SCOPUS:85052711756
SN - 9781450352680
T3 - ACM International Conference Proceeding Series
SP - 85
EP - 89
BT - Proceedings of 2017 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
PB - Association for Computing Machinery
T2 - 2nd International Conference on Biomedical Signal and Image Processing, ICBIP 2017
Y2 - 23 August 2017 through 25 August 2017
ER -