Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation

2017 ◽  
pp. 168-172
Author(s):  
M. A. Zakaria ◽  
A. P. P. Abdul Majeed ◽  
I. M. Khairuddin ◽  
Z. Taha
Keyword(s):  
Lower Limb ◽  
Preliminary Investigation ◽  
Gait Rehabilitation ◽  
Kinematics Analysis ◽  
Lower Limb Exoskeleton

scholarly journals The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

2017 ◽  
Vol 105 ◽  
pp. 183-190 ◽  
Author(s):  
A.P.P.A. Majeed ◽  
Z. Taha ◽  
A.F.Z. Abidin ◽  
M.A. Zakaria ◽  
I.M. Khairuddina ◽  
...  
Keyword(s):  
Force Control ◽  
Lower Limb ◽  
Gait Rehabilitation ◽  
Active Force ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Active Force Control

scholarly journals Low Cost Lower Limb Exoskeleton for Assisting Gait Rehabilitation

2019 ◽  
Author(s):  
Luis I. Minchala ◽  
Anthony J. Velasco ◽  
Jonathan M. Blandin ◽  
Fabian Astudillo-Salinas ◽  
Andres Vazquez-Rodas
Keyword(s):  
Lower Limb ◽  
Low Cost ◽  
Gait Rehabilitation ◽  
Lower Limb Exoskeleton

Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation

2016 ◽  
Vol 87 (10) ◽  
pp. 104301 ◽  
Author(s):  
Mingxing Lyu ◽  
Weihai Chen ◽  
Xilun Ding ◽  
Jianhua Wang ◽  
Shaoping Bai ◽  
...  
Keyword(s):  
Lower Limb ◽  
Human Gait ◽  
Gait Rehabilitation ◽  
Biologically Inspired ◽  
Lower Limb Exoskeleton

Development of a Robotic Lower-Limb Exoskeleton for Gait Rehabilitation: AGoRA Exoskeleton

2018 ◽  
Author(s):  
Miguel Sanchez-Manchola ◽  
Daniel Gomez-Vargas ◽  
Diego Casas-Bocanegra ◽  
Marcela Munera ◽  
Carlos A. Cifuentes
Keyword(s):  
Lower Limb ◽  
Gait Rehabilitation ◽  
Lower Limb Exoskeleton

scholarly journals Offline ANN-PID Controller Tuning on a Multi-Joints Lower Limb Exoskeleton for Gait Rehabilitation

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Karrar H. Al-Waeli ◽  
Rizauddin Ramli ◽  
Sallehuddin Mohamed Haris ◽  
Zuliani Binti Zulkoffli ◽  
Mohammad Soleimani Amiri
Keyword(s):  
Lower Limb ◽  
Pid Controller ◽  
Gait Rehabilitation ◽  
Controller Tuning ◽  
Lower Limb Exoskeleton ◽  
Pid Controller Tuning

Design of Lower Limb Exoskeleton for Stroke Patients Gait Rehabilitation

2021 ◽  
Author(s):  
Kadek Heri Sanjaya ◽  
Dwi Esti Kusumandari ◽  
Rina Ristiana ◽  
Zaki Ambadar ◽  
Dhiny Hari Utama ◽  
...  
Keyword(s):  
Lower Limb ◽  
Gait Rehabilitation ◽  
Stroke Patients ◽  
Lower Limb Exoskeleton

A hybrid active force control of a lower limb exoskeleton for gait rehabilitation

2018 ◽  
Vol 63 (4) ◽  
pp. 491-500 ◽  
Author(s):  
Zahari Taha ◽  
Anwar P.P. Abdul Majeed ◽  
Amar Faiz Zainal Abidin ◽  
Mohammed A. Hashem Ali ◽  
Ismail Mohd Khairuddin ◽  
...  
Keyword(s):  
Force Control ◽  
Lower Limb ◽  
Sagittal Plane ◽  
Joint Space ◽  
Gait Rehabilitation ◽  
Active Force ◽  
Lower Limb Exoskeleton ◽  
Active Force Control ◽  
Increasing Demand ◽  
And Control

Abstract Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton.

Sign in / Sign up

Export Citation Format

Share Document