scholarly journals Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6709
Author(s):  
I-Hsum Li ◽  
Yi-Shan Lin ◽  
Lian-Wang Lee ◽  
Wei-Ting Lin
Keyword(s):  
Body Weight ◽  
Dynamic Behavior ◽  
Support System ◽  
Gait Training ◽  
Training System ◽  
Lower Limbs ◽  
Body Weight Support ◽  
Passive Safety ◽  
Weight Support ◽  
Postural Support

We designed and manufactured a pneumatic-driven robotic passive gait training system (PRPGTS), providing the functions of body-weight support, postural support, and gait orthosis for patients who suffer from weakened lower limbs. The PRPGTS was designed as a soft-joint gait training rehabilitation system. The soft joints provide passive safety for patients. The PRPGTS features three subsystems: a pneumatic body weight support system, a pneumatic postural support system, and a pneumatic gait orthosis system. The dynamic behavior of these three subsystems are all involved in the PRPGTS, causing an extremely complicated dynamic behavior; therefore, this paper applies five individual interval type-2 fuzzy sliding controllers (IT2FSC) to compensate for the system uncertainties and disturbances in the PRGTS. The IT2FSCs can provide accurate and correct positional trajectories under passive safety protection. The feasibility of weight reduction and gait training with the PRPGTS using the IT2FSCs is demonstrated with a healthy person, and the experimental results show that the PRPGTS is stable and provides a high-trajectory tracking performance.

3C3-04 Development of the gait training system with body weight support : Synergistic control for synergy among upper and lower limbs

2006 ◽  
Vol 2006 (0) ◽  
pp. 228-229
Author(s):  
Takayuki KASAI ◽  
Shin-Ichiro YAMAMOTO ◽  
Takashi KOMEDA ◽  
Kimitaka NAKAZAWA ◽  
Masami AKAI
Keyword(s):  
Body Weight ◽  
Gait Training ◽  
Training System ◽  
Lower Limbs ◽  
Body Weight Support ◽  
Weight Support

scholarly journals Development of a body weight support system using pneumatic muscle actuators: Controlling and validation

2016 ◽  
Vol 8 (12) ◽  
pp. 168781401668359 ◽  
Author(s):  
Tran Van Thuc ◽  
Shin-ichiroh Yamamoto
Keyword(s):  
Body Weight ◽  
Support System ◽  
Center Of Pressure ◽  
Gait Training ◽  
Body Weight Support ◽  
The Novel ◽  
Pneumatic Muscle ◽  
Weight Support ◽  
Muscle Actuators ◽  
Body Weight Support System

This study introduces the development of a new body weight support system using pneumatic actuators for gait training. The main scope of this work is to provide a new design, validation, and assessment for active body weight support systems to reproduce a subject’s normal walking behavior. Based on the assessments and its evaluations, the novel body weight support system using pneumatic muscle actuators shows many advantageous characteristics, such as simplicity, low cost, maintenance of a constant unloading force, and ease of control of the supported force. The capability of the novel body weight support system to generate unloading forces that track the center of pressure, because it switches from left to right and vice versa as the subject walks, is especially interesting.

Development of Body Weight Support Gait Training System using Pneumatic McKibben Actuator

2018 ◽  
Vol 2018.30 (0) ◽  
pp. 1C05
Author(s):  
Moriko HAGIWARA ◽  
Dao Quy Thinh ◽  
Tran Van Thuc ◽  
Takuma KAWAKAMI ◽  
Jinichi IIMURA ◽  
...  
Keyword(s):  
Body Weight ◽  
Gait Training ◽  
Training System ◽  
Body Weight Support ◽  
Weight Support

Development of Body Weight Support Gait Training System using Pneumatic McKibben Actuator

2018 ◽  
Vol 2018.30 (0) ◽  
pp. 1C04
Author(s):  
Jinichi IIMURA ◽  
Takuma KAWAKAMI ◽  
Riichi TAKIGUCHI ◽  
Moriko HAGIWARA ◽  
Yoshiyuki SHIBATA ◽  
...  
Keyword(s):  
Body Weight ◽  
Gait Training ◽  
Training System ◽  
Body Weight Support ◽  
Weight Support

1D11 Development of Body Weight Support Gait Training System using Pneumatic McKibben Actuator : Development and Evaluation of Body Weight Support Equipment

2015 ◽  
Vol 2015.27 (0) ◽  
pp. 135-136
Author(s):  
Kenichi WATANABE ◽  
Mohd Azuwan bin Mat Dzahir ◽  
Masaru NARAZAKI ◽  
Tatsuya OSHIMA ◽  
Yoshiyuki SHIBATA ◽  
...  
Keyword(s):  
Body Weight ◽  
Gait Training ◽  
Training System ◽  
Body Weight Support ◽  
Weight Support

scholarly journals Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

2013 ◽  
Vol 2013 ◽  
pp. 1-20 ◽  
Author(s):  
Mohd Azuwan Mat Dzahir ◽  
Shin-Ichiroh Yamamoto
Keyword(s):  
Body Weight ◽  
Gait Training ◽  
Training System ◽  
The Body ◽  
Body Weight Support ◽  
Knee Joints ◽  
Actuation System ◽  
Weight Support ◽  
Full Capacity ◽  
Muscle Actuators

This paper introduces the body weight support gait training system known as the AIRGAIT exoskeleton and delves into the design and evaluation of its leg orthosis control algorithm. The implementation of the mono- and biarticular pneumatic muscle actuators (PMAs) as the actuation system was initiated to generate more power and precisely control the leg orthosis. This research proposes a simple paradigm for controlling the mono- and bi-articular actuator movements cocontractively by introducing a cocontraction model. Three tests were performed. The first test involved control of the orthosis with monoarticular actuators alone without a subject (WO/S); the second involved control of the orthosis with mono- and bi-articular actuators tested WO/S; and the third test involved control of the orthosis with mono- and bi-articular actuators tested with a subject (W/S). Full body weight support (BWS) was implemented in this study during the test W/S as the load supported by the orthosis was at its maximum capacity. This assessment will optimize the control system strategy so that the system operates to its full capacity. The results revealed that the proposed control strategy was able to co-contractively actuate the mono- and bi-articular actuators simultaneously and increase stiffness at both hip and knee joints.

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