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

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 A Novel Precision Measuring Parallel Mechanism for the Closed-Loop Control of a Biologically Inspired Lower Limb Exoskeleton

2018 ◽  
Vol 23 (6) ◽  
pp. 2693-2703 ◽  
Author(s):  
Libo Zhou ◽  
Weihai Chen ◽  
Jianhua Wang ◽  
Shaoping Bai ◽  
Haoyong Yu ◽  
...  
Keyword(s):  
Lower Limb ◽  
Parallel Mechanism ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Biologically Inspired ◽  
Loop Control ◽  
Lower Limb Exoskeleton ◽  
Precision Measuring

scholarly journals Design on electrohydraulic servo driving system with walking assisting control for lower limb exoskeleton robot

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199228
Author(s):  
Buyun Wang ◽  
Yi Liang ◽  
Dezhang Xu ◽  
Zhihong Wang ◽  
Jing Ji
Keyword(s):  
Pid Control ◽  
Lower Limb ◽  
Control Method ◽  
Human Gait ◽  
Tracking Accuracy ◽  
Driving System ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Pressure Compensation ◽  
Power Assistance

According to the characteristics of human gait and the requirements of power assistance, locomotive mechanisms and electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which the miniaturization and lightweight of driving system are realized. The kinematics of the robot is analyzed and verified via the typical movements of the exoskeleton. In this article, the simulation on the power of joints during level walking was analyzed in ADAMS 2016, which is a multibody simulation and motion analysis software. Motion ranges and driving strokes are then optimized. A proportional integral derivative (PID) control method with error estimation and pressure compensation is proposed to satisfy the requirements of joints power assistance and comply with the motion of human lower limb. The proposed method is implemented into the exoskeleton for assisted walking and is verified by experimental results. Finally, experiments show that the tracking accuracy and power-assisted performance of exoskeleton robot joints are improved.

Initial Results of Lower Limb Exoskeleton Therapy with Human Gait Analysis for a Paraplegic Patient

2021 ◽  
pp. 151-157
Author(s):  
Luca Toth ◽  
Adam Schiffer ◽  
Veronika Pinczker ◽  
Peter Muller ◽  
Andras Buki ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Lower Limb ◽  
Human Gait ◽  
Lower Limb Exoskeleton ◽  
Human Gait Analysis ◽  
Paraplegic Patient ◽  
Initial Results

scholarly journals ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 789 ◽  
Author(s):  
Manuel Cardona ◽  
Cecilia E. García Cena ◽  
Fernando Serrano ◽  
Roque Saltaren
Keyword(s):  
Lower Limb ◽  
Conceptual Development ◽  
Human Gait ◽  
Lower Limb Exoskeleton ◽  
Gait Parameters ◽  
Measurement Units ◽  
Mechanical Sensor ◽  
Wearable Exoskeleton ◽  
Novel Concept ◽  
Real Time Information

Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.

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
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