| Autor: |
Shi-Heng Hsu, Chuan Changcheng, Heng-Ju Lee, Chun-Ta Chen |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Actuators, Vol 10, Iss 9, p 212 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2076-0825 |
| DOI: |
10.3390/act10090212 |
| Popis: |
In this paper, a four degrees-of-freedom robotic hip exoskeleton was proposed for gait rehabilitation. The robotic hip exoskeleton was designed with active flexion/extension and passive abduction/adduction at each hip joint to comply with the movement of the thigh. Due to each user’s different lower limbs characteristics and unknown torques at hip joints, model-free linear extended state observer (LESO)-based controllers were proposed for rehabilitation gait control. The prototypes of the robotic hip exoskeleton and controller designs were validated and compared through walking and ascending rehabilitation experiments. Additionally, a motion captured system and EMG signals were used to investigate the walking assistance of the robotic hip exoskeleton. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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