Human Gait Prediction for Lower Limb Rehabilitation Exoskeleton Using Gated Recurrent Units

2021 ◽  
pp. 128-135
Author(s):  
Yan Wang ◽  
Zhikang Li ◽  
Yuguo Chen ◽  
Wudai Liao ◽  
Aihui Wang
Keyword(s):  
Lower Limb ◽  
Human Gait ◽  
Gated Recurrent Units ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Human-Like Robust Adaptive PD Based Human Gait Tracking for Exoskeleton Robot

2021 ◽  
Vol 33 (1) ◽  
pp. 88-96
Author(s):  
Aihui Wang ◽  
Ningning Hu ◽  
Jun Yu ◽  
Junlan Lu ◽  
Yifei Ge ◽  
...  
Keyword(s):  
Control Strategy ◽  
Lower Limb ◽  
Structural Parameters ◽  
Human Gait ◽  
Pd Control ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Robust Adaptive ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

For patients with dyskinesias caused by central nervous system diseases such as stroke, in the early stage of rehabilitation training, lower limb rehabilitation robots are used to provide passive rehabilitation training. This paper proposed a human-like robust adaptive PD control strategy of the exoskeleton robot based on healthy human gait data. When the error disturbance is bounded, a human-like robust adaptive PD control strategy is designed, which not only enables the rehabilitation exoskeleton robot to quickly track the human gait trajectory obtained through the 3D NOKOV motion capture system, but also can well identify the structural parameters of the system and avoid excessively initial output torque for the robot. MATLAB simulation verifies that the proposed method has a better performance to realize tracking the experimental trajectory of human movement and anti-interference ability under the condition of ensuring global stability for a lower limb rehabilitation exoskeleton robot.

scholarly journals Robust adaptive PD-like control of lower limb rehabilitation robot based on human movement data

2021 ◽  
Vol 7 ◽  
pp. e394
Author(s):  
Ningning Hu ◽  
Aihui Wang ◽  
Yuanhang Wu
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Body Movement ◽  
Human Gait ◽  
Similarity Function ◽  
Rehabilitation Robot ◽  
Healthy Human ◽  
Robust Adaptive ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

The combination of biomedical engineering and robotics engineering brings hope of rehabilitation to patients with lower limb movement disorders caused by diseases of the central nervous system. For the comfort during passive training, anti-interference and the convergence speed of tracking the desired trajectory, this paper analyzes human body movement mechanism and proposes a robust adaptive PD-like control of the lower limb exoskeleton robot based on healthy human gait data. In the case of bounded error perturbation, MATLAB simulation verifies that the proposed method can ensure the global stability by introducing an S-curve function to make the design robust adaptive PD-like control. This control strategy allows the lower limb rehabilitation robot to track the human gait trajectory obtained through the motion capture system more quickly, and avoids excessive initial output torque. Finally, the angle similarity function is used to objectively evaluate the human body for wearing the robot comfortably.

Cable-Driven Parallel Manipulator for Lower Limb Rehabilitation

2013 ◽  
Vol 459 ◽  
pp. 535-542 ◽  
Author(s):  
Rogério Sales Gonçalves ◽  
João Carlos Mendes Carvalho ◽  
Lucas Antonio Oliveira Rodrigues ◽  
André Marques Barbosa
Keyword(s):  
Lower Limb ◽  
Parallel Manipulator ◽  
Experimental Tests ◽  
Lower Limbs ◽  
Human Gait ◽  
Parallel Structure ◽  
Robotic Devices ◽  
The Individual ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

The development of robotic devices to apply in the rehabilitation process of human lower limbs is justified by the large number of people with lower limb problems due to stroke and/or accidents. Thus, this paper presents a cable-driven parallel manipulator for lower limb rehabilitation which is composed by a fixed base and a mobile platform that can be connected to one cable at most six and can performing the movement of human gait and the individual movements of the hip, the knee and the ankle. This paper starts with a study of the basic movements of the lower limb. Then the kinetostatic and force analysis were presented. The graphical simulation and experimental tests of the cable-driven parallel structure for lower limb rehabilitation movements are presented showing the viability of the proposed structure.

Recent Advances on Horizontal Lower Limb Rehabilitation Robot

2017 ◽  
Vol 10 (2) ◽  
Author(s):  
Jingang Jiang ◽  
Xuefeng Ma ◽  
Biao Huo ◽  
Xiaoyang Yu ◽  
Xiaowei Guo ◽  
...  
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Recent Advances ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

Integrated design of a lower limb rehabilitation mechanism using differential evolution

2021 ◽  
Vol 92 ◽  
pp. 107103
Author(s):  
José Saúl Muñoz-Reina ◽  
Miguel Gabriel Villarreal-Cervantes ◽  
Leonel Germán Corona-Ramírez
Keyword(s):  
Differential Evolution ◽  
Lower Limb ◽  
Integrated Design ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation
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