Design and Evaluation of the Lower-limb Robotic Orthosis for Gait Rehabilitation Actuated by Pneumatic Artificial Muscle

2017 ◽  
Author(s):  
Quy-Thinh Dao ◽  
Moriko Hagiwara ◽  
Shin-ichiroh Yamamoto
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Gait Rehabilitation ◽  
Pneumatic Artificial Muscle ◽  
Robotic Orthosis

scholarly journals Design and Control of a 1-DOF Robotic Lower-Limb System Driven by Novel Single Pneumatic Artificial Muscle

2019 ◽  
Vol 10 (1) ◽  
pp. 43 ◽  
Author(s):  
Tsung-Chin Tsai ◽  
Mao-Hsiung Chiang
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Robotic System ◽  
Artificial Muscles ◽  
Prototype System ◽  
Pneumatic Artificial Muscle ◽  
Torsion Spring ◽  
Pneumatic Artificial Muscles ◽  
Control Response ◽  
Spring Mechanism

This study determines the practicality and feasibility of the application of pneumatic artificial muscles (PAMs) in a pneumatic therapy robotic system. The novel mechanism consists of a single actuated pneumatic artificial muscle (single-PAM) robotic lower limb that is driven by only one PAM combined with a torsion spring. Unlike most of previous studies, which used dual-actuated pneumatic artificial muscles (dual-PAMs) to drive joints, this design aims to develop a novel single-PAM for a one degree-of-freedom (1-DOF) robotic lower-limb system with the advantage of a mechanism for developing a multi-axial therapy robotic system. The lower limb robotic assisting system uses the stretching/contraction characteristics of a single-PAM and the torsion spring designed by the mechanism to realize joint position control. The joint is driven by a single-PAM controlled by a proportional pressure valve, a designed 1-DOF lower-limb robotic system, and an experimental prototype system similar to human lower limbs are established. However, the non-linear behavior, high hysteresis, low damping and time-variant characteristics for a PAM with a torsion spring still limits its controllability. In order to control the system, a fuzzy sliding mode controller (FSMC) is used to control the path tracking for the PAM for the first time. This control method prevents approximation errors, disturbances, un-modeled dynamics and ensures positioning performance for the whole system. Consequently, from the various experimental results, the control response designed by the joint torsion spring mechanism can also obtain the control response like the design of the double-PAMs mechanism, which proves that the innovative single-PAM with torsion spring mechanism design in this study can reduce the size of the overall aid mechanism and reduce the manufacturing cost, can also improve the portability and convenience required for the wearable accessory, and is more suitable for the portable rehabilitation aid system architecture.

2P1-A13 Development of high contractile pneumatic artificial muscle for lower limb power assist wear

2009 ◽  
Vol 2009 (0) ◽  
pp. _2P1-A13_1-_2P1-A13_4
Author(s):  
Yoshitaka Miki ◽  
Daisuke Sasaki ◽  
Toshiro Noritsugu ◽  
Masahiro Takaiwa
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle

Pleated Pneumatic Artificial Muscle-Based Actuator System as a Torque Source for Compliant Lower Limb Exoskeletons

2014 ◽  
Vol 19 (3) ◽  
pp. 1046-1056 ◽  
Author(s):  
Pieter Beyl ◽  
Michael Van Damme ◽  
Ronald Van Ham ◽  
Bram Vanderborght ◽  
Dirk Lefeber
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Actuator System

scholarly journals Analysis and control of a parallel lower limb based on pneumatic artificial muscles

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668500 ◽  
Author(s):  
Feilong Jiang ◽  
Guoliang Tao ◽  
Qingwei Li
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Joint Movement ◽  
Obturator Internus ◽  
Pneumatic Artificial Muscles ◽  
Human Limb ◽  
Adaptive Control Algorithm ◽  
And Control

Most robots that are actuated by antagonistic pneumatic artificial muscles are controlled by various control algorithms that cannot adequately imitate the actual muscle distribution of human limbs. Other robots in which the distribution of pneumatic artificial muscle is similar to that of human limbs can only analyze the position of the robot using perceptual data instead of rational knowledge. In order to better imitate the movement of a human limb, the article proposes a humanoid lower limb in the form of a parallel mechanism where muscle is unevenly distributed. Next, the kinematic and dynamic movements of bionic hip joint are analyzed, where the joint movement is controlled by an observer-based fuzzy adaptive control algorithm as a whole rather than each individual pneumatic artificial muscle and parameters that are optimized by a neural network. Finally, experimental results are provided to confirm the effectiveness of the proposed method. We also document the role of muscle in trajectory tracking for the piriformis and musculi obturator internus in isobaric processes.

Effects on knee joint force from a body weight load reduction system driven by rubber-less artificial muscle

2019 ◽  
Vol 46 (5) ◽  
pp. 642-649 ◽  
Author(s):  
Naoki Saito ◽  
Toshiyuki Satoh ◽  
Norihiko Saga
Keyword(s):  
Body Weight ◽  
Knee Joint ◽  
Lower Limb ◽  
Artificial Muscle ◽  
The Body ◽  
Load Reduction ◽  
Pneumatic Artificial Muscle ◽  
Content Type ◽  
Joint Force ◽  
Reduction System

Purpose The purpose of this study is to confirm that the body weight load reduction system which is developed by us is effective to reduce the knee joint force of the walking user. This system is driven by pneumatic artificial muscle, functions as a mobile walking assist system. Design/methodology/approach The developed body weight load reduction system driven by rubber-less artificial muscle (RLAM) was tested experimentally. Simple force feedback control is applied to the RLAM. The system moves as synchronized with vertical movement of the walking user. The knee joint force during walking experiments conducted using this system is estimated by measurement of floor reaction force and position data of lower limb joints. Findings The knee joint force during walking is reduced when using this system. This system contributes to smooth change of knee joint force when the lower limb contacts the floor. Practical implications This lightweight body weight load reduction system is particularly effective for realizing easy-to-use mobile walking assist system. Originality/value A lightweight body weight load reduction system using pneumatic artificial muscle is a novel proposal. Additionally, these new evaluation results demonstrate its effectiveness for reducing knee joint force during walking.

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