Modelling and Control of a Lower Limb Exoskeleton Driven by Linear Actuators

2022 ◽  
pp. 119-131
Author(s):  
Dariusz Grzelczyk ◽  
Olga Jarzyna ◽  
Jan Awrejcewicz
Keyword(s):  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Linear Actuators ◽  
And Control

scholarly journals Development of human lower limbs exoskeleton robot for medical rehabilitation

2021 ◽  
pp. 91-97
Author(s):  
E. A. Kotov ◽  
◽  
A. D. Druk ◽  
D. N. Klypin ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Experimental Research ◽  
Lower Limb ◽  
Lower Limbs ◽  
Medical Rehabilitation ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Controlled Motion ◽  
And Control

The article deals with the solution of the problem of optimizing the characteristics of controlled motion of human lower limb exoskeleton robot for improving medical rehabilitation. The aim of the work is to develop a rehabilitation device capable of providing controlled motion in two planes, as well as maintaining balance without loss of mobility. The design and control system of a rehabilitation trainer designed for performing mechanotherapy of the lower limbs of patients with locomotive disorders are proposed and characterized. The developed system has a number of significant differences from analogues and can be recommended for experimental research on patients with impaired locomotive functions

Synthesis and experiment of a lower limb exoskeleton rehabilitation robot

2017 ◽  
Vol 44 (3) ◽  
pp. 264-274 ◽  
Author(s):  
Jian Li ◽  
Diansheng Chen ◽  
Chunjing Tao ◽  
Hui Li
Keyword(s):  
Lower Limb ◽  
Therapeutic Effects ◽  
Rehabilitation Robot ◽  
Practical Application ◽  
Content Type ◽  
Lower Limb Exoskeleton ◽  
Actual Use ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Purpose Many studies have shown that rehabilitation robots are crucial for lower limb dysfunction, but application of many robotics have yet to be seen to actual use in China. This study aimed to improve a lower limb rehabilitation robot by details improving and practical design. Design/methodology/approach Structures and control system of a lower limb rehabilitation robot are improved in detail, including joint calculations, comfort analysis and feedback logic creation, and prototype experiments on healthy individuals and patients are conducted in a hospital. Findings All participating subjects did not experience any problems. The experiment shows detail improving is reasonable, and feasibility of the robot was confirmed, which has potential for overcoming difficulties and problems in practical application. Research limitations/implications Therapeutic effects need to be evaluated in the future. Also, more details should be improved continuously based on the actual demand. Originality/value The improved robot could assist the lower limb during standing or walking, which has significance for practical application and patients in China.

Integration, Sensing, and Control of a Modular Soft-Rigid Pneumatic Lower Limb Exoskeleton

Soft Robotics ◽  
2020 ◽  
Vol 7 (2) ◽  
pp. 140-154 ◽  
Author(s):  
Jiangbei Wang ◽  
Yanqiong Fei ◽  
Weidong Chen
Keyword(s):  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
And Control

Gait Event Detection System for the Control of Lower Limb Exoskeleton

2021 ◽  
Vol 10 (2) ◽  
pp. 14-28
Author(s):  
Mohanavelu Kalathe ◽  
Sakshi Agarwal ◽  
Vinutha Sampaath ◽  
Jayanth Daniel
Keyword(s):  
Event Detection ◽  
Lower Limb ◽  
Review Paper ◽  
Detection System ◽  
Human Life ◽  
Robotic Technology ◽  
Lower Limb Exoskeleton ◽  
Sensing System ◽  
And Control ◽  
Design Aspect

Locomotion is an essential aspect of day-to-day human life. Advancement in wearable robotic technology enhances capabilities for maintaining the locomotion of people with disabilities. The exoskeleton, being one of them, meets the growing demands in the rehabilitation industry and enhanced locomotion requirements. Depending on the need and disability, various types of exoskeletons are designed. The design aspect of the exoskeleton includes various sensor systems, mechanical structure, mechanism, and control strategy used. Detection of gait events depends on the disability of the wearer and is very critical to decide the appropriate gait event that needs to be activated either by powering the actuators actively or passively. These interfaces should have a minimum possible response time to control the exoskeleton system to follow the wearer's gait. This review paper describes various sensing system incorporated in the control of various exoskeleton systems for the detection of gait events.

scholarly journals Impacts of a lower limb exoskeleton robot on anxious stroke patients

2020 ◽  
Vol 218 ◽  
pp. 03050
Author(s):  
Jiyu Zhang ◽  
Jiajia Yao ◽  
Tian Wang ◽  
Qingyu Zhao ◽  
Qi Qi
Keyword(s):  
Lower Limb ◽  
Anxiety Scale ◽  
Control Group ◽  
Stroke Patients ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Walking Rehabilitation ◽  
And Control ◽  
Experimental Group ◽  
Robot Group

To explore the intervention effect of exoskeleton robot training on anxiety of stroke patients. Methods 24 stroke patients with hemiplegia were randomly divided into experimental group and control group, with 12 cases in each group. Moreover, the robot group took the walking training with UGO 210, a lower limb exoskeleton walking rehabilitation, once per day, 30 minutes per time, a total of 20 times of treatment. Before the trial and at the end of the trial cycle, patients’ emotions were assessed using the Self-rating Anxiety scale (SAS), and the efficacy of the two groups was compared. Results: The scores of anxiety scale decreased in both groups (P <0.05), and there was no difference between the two groups (P <0.05). Conclusion: The use of exoskeleton robot can improve the anxiety of stroke patients, but there is no difference compared with the conventional walking training.

Dynamic Analysis of Lower Limb Exoskeleton Motion and Control Using Differential Transform Method

2021 ◽  
Vol 51 ◽  
pp. 77-94
Author(s):  
Olurotimi A. Adeleye ◽  
Tamunomiete S. Ekine ◽  
Ahmed A. Yinusa
Keyword(s):  
Dynamic Analysis ◽  
Lower Limb ◽  
Nonlinear Dynamic ◽  
Differential Transform Method ◽  
Transform Method ◽  
Positive Direction ◽  
Lower Limb Exoskeleton ◽  
Applied Torque ◽  
Differential Transform ◽  
And Control

In this study, the nonlinear dynamic analysis of the motion and control of the lower limb exoskeleton using differential transform method is presented. Devices for medical processes are continuously undergoing improvement such as enhancing and assisting automatic therapies with flexible and configurable programs for treating people with partial disability in lower limbs as applied in lower-limb exoskeleton. The configurable programs in this exoskeleton can be applied to observe and control the motion of the exoskeleton for effective physiotherapy and reduced rehabilitation time for patients with such disability. Hence, a two degree of freedom nonlinear dynamic model for the motion and control of the lower limb exoskeletons was developed for two links. The nonlinear dynamic models are solved by applying the differential transform method (DTM) and verified with the forth order Runge-Kutta numerical method (RK4). The effects of the applied torque on the two links are investigated and it is observed that Link 1 has large negative deflection amplitude that drives link 2 towards the opposite positive direction. An increase in the applied torque resulted in increase in the amplitude of the system for all initial condition considered. This in turns increases the nonlinear dynamic behavior of link 2 due to its lower mass value. The speed of both links dampens out over the history due to the presence of damping term. At equilibrium, both links are in phase and have the same amplitude over the time history. This study provides an analytical tool for observing and controlling the motions of the lower limb exoskeleton and for improving the designs of the medical device.

Sign in / Sign up

Export Citation Format

Share Document