A hybrid control method of an exoskeleton robot for intention-driven walking rehabilitation of stroke patients

2012 ◽  
Author(s):  
Jun-Young Jung ◽  
Min-Gi Chae ◽  
In Hun Jang ◽  
Hyunsub Park
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Stroke Patients ◽  
Exoskeleton Robot ◽  
Walking Rehabilitation

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.

Trajectory following control of lower limb exoskeleton robot based on Udwadia–Kalaba theory

2021 ◽  
pp. 107754632110317
Author(s):  
Jin Tian ◽  
Liang Yuan ◽  
Wendong Xiao ◽  
Teng Ran ◽  
Li He
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Uniform Boundedness ◽  
Adaptive Robust Control ◽  
Structural Vibration ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Constraint Problem ◽  
Trajectory Following

The main objective of this article is to solve the trajectory following problem for lower limb exoskeleton robot by using a novel adaptive robust control method. The uncertainties are considered in lower limb exoskeleton robot system which include initial condition offset, joint resistance, structural vibration, and environmental interferences. They are time-varying and have unknown boundaries. We express the trajectory following problem as a servo constraint problem. In contrast to conventional control methods, Udwadia–Kalaba theory does not make any linearization or approximations. Udwadia–Kalaba theory is adopted to derive the closed-form constrained equation of motion and design the proposed control. We also put forward an adaptive law as a performance index whose type is leakage. The proposed control approach ensures the uniform boundedness and uniform ultimate boundedness of the lower limb exoskeleton robot which are demonstrated via the Lyapunov method. Finally, simulation results have shown the tracking effect of the approach presented in this article.

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