Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training
Robot-assisted rehabilitation of gait still faces many challenges, one of which is improving physical human-robot interaction. The use of pleated pneumatic artificial muscles to power a step rehabilitation robot has the potential to meet this challenge. This paper reports on the development of a gai...
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| Format: | Article |
| Language: | English |
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Wiley
2009-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320902784393 |
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| _version_ | 1832547098867793920 |
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| author | Pieter Beyl Michaël Van Damme Ronald Van Ham Bram Vanderborght Dirk Lefeber |
| author_facet | Pieter Beyl Michaël Van Damme Ronald Van Ham Bram Vanderborght Dirk Lefeber |
| author_sort | Pieter Beyl |
| collection | DOAJ |
| description | Robot-assisted rehabilitation of gait still faces many challenges, one of which is improving physical human-robot interaction. The use of pleated pneumatic artificial muscles to power a step rehabilitation robot has the potential to meet this challenge. This paper reports on the development of a gait rehabilitation exoskeleton with a knee joint powered by pleated pneumatic artificial muscles. It is intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The design was focused on the optimal dimensioning of the actuator configuration. Safety being the most important prerequisite, a proxy-based sliding mode controller (PSMC) was implemented as it combines accurate tracking during normal operation with a smooth, slow and safe recovery from large position errors. Treadmill walking experiments of a healthy subject wearing the powered exoskeleton show the potential of PSMC as a safe robot-in-charge control strategy for robot-assisted gait training. |
| format | Article |
| id | doaj-art-9e3b4ee74f964a92a3782b5b62b29696 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2009-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-9e3b4ee74f964a92a3782b5b62b296962025-02-03T06:46:11ZengWileyApplied Bionics and Biomechanics1176-23221754-21032009-01-016222924310.1080/11762320902784393Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait TrainingPieter Beyl0Michaël Van Damme1Ronald Van Ham2Bram Vanderborght3Dirk Lefeber4Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, BelgiumRobot-assisted rehabilitation of gait still faces many challenges, one of which is improving physical human-robot interaction. The use of pleated pneumatic artificial muscles to power a step rehabilitation robot has the potential to meet this challenge. This paper reports on the development of a gait rehabilitation exoskeleton with a knee joint powered by pleated pneumatic artificial muscles. It is intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The design was focused on the optimal dimensioning of the actuator configuration. Safety being the most important prerequisite, a proxy-based sliding mode controller (PSMC) was implemented as it combines accurate tracking during normal operation with a smooth, slow and safe recovery from large position errors. Treadmill walking experiments of a healthy subject wearing the powered exoskeleton show the potential of PSMC as a safe robot-in-charge control strategy for robot-assisted gait training.http://dx.doi.org/10.1080/11762320902784393 |
| spellingShingle | Pieter Beyl Michaël Van Damme Ronald Van Ham Bram Vanderborght Dirk Lefeber Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training Applied Bionics and Biomechanics |
| title | Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training |
| title_full | Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training |
| title_fullStr | Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training |
| title_full_unstemmed | Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training |
| title_short | Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training |
| title_sort | design and control of a lower limb exoskeleton for robot assisted gait training |
| url | http://dx.doi.org/10.1080/11762320902784393 |
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