Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation
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...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2013/535106 |
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| _version_ | 1832565908133904384 |
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| author | Mohd Azuwan Mat Dzahir Shin-Ichiroh Yamamoto |
| author_facet | Mohd Azuwan Mat Dzahir Shin-Ichiroh Yamamoto |
| author_sort | Mohd Azuwan Mat Dzahir |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-19623daec3824fefacb8b07c4835350f |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-19623daec3824fefacb8b07c4835350f2025-02-03T01:05:32ZengWileyJournal of Robotics1687-96001687-96192013-01-01201310.1155/2013/535106535106Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait RehabilitationMohd Azuwan Mat Dzahir0Shin-Ichiroh Yamamoto1Shibaura Institute of Technology, Department of Bio-Science Engineering, 307 Fukasaku, Minuma-ku, Saitama City, Saitama 337-8570, JapanShibaura Institute of Technology, Department of Bio-Science Engineering, 307 Fukasaku, Minuma-ku, Saitama City, Saitama 337-8570, JapanThis 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.http://dx.doi.org/10.1155/2013/535106 |
| spellingShingle | Mohd Azuwan Mat Dzahir Shin-Ichiroh Yamamoto Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation Journal of Robotics |
| title | Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation |
| title_full | Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation |
| title_fullStr | Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation |
| title_full_unstemmed | Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation |
| title_short | Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation |
| title_sort | design and evaluation of the airgait exoskeleton leg orthosis control for assistive gait rehabilitation |
| url | http://dx.doi.org/10.1155/2013/535106 |
| work_keys_str_mv | AT mohdazuwanmatdzahir designandevaluationoftheairgaitexoskeletonlegorthosiscontrolforassistivegaitrehabilitation AT shinichirohyamamoto designandevaluationoftheairgaitexoskeletonlegorthosiscontrolforassistivegaitrehabilitation |