Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training

Autor: Pieter Beyl, Michaël Van Damme, Ronald Van Ham, Bram Vanderborght, Dirk Lefeber
Jazyk: angličtina
Rok vydání: 2009
Předmět:
Zdroj: Applied Bionics and Biomechanics, Vol 6, Iss 2, Pp 229-243 (2009)
Druh dokumentu: article
ISSN: 1176-2322
1754-2103
DOI: 10.1080/11762320902784393
Popis: Robot-assisted rehabilitation of gait still faces many challenges, one of which is improving physical human-robot interaction. The use of pleated pneumatic artificial muscles to power a step rehabilitation robot has the potential to meet this challenge. This paper reports on the development of a gait rehabilitation exoskeleton with a knee joint powered by pleated pneumatic artificial muscles. It is intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The design was focused on the optimal dimensioning of the actuator configuration. Safety being the most important prerequisite, a proxy-based sliding mode controller (PSMC) was implemented as it combines accurate tracking during normal operation with a smooth, slow and safe recovery from large position errors. Treadmill walking experiments of a healthy subject wearing the powered exoskeleton show the potential of PSMC as a safe robot-in-charge control strategy for robot-assisted gait training.
Databáze: Directory of Open Access Journals
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