Next Article in Journal
A Semantic Segmentation Algorithm Using FCN with Combination of BSLIC
Previous Article in Journal
Rock Fragmentation Characteristics by TBM Cutting and Efficiency under Bi-Lateral Confinement
Open AccessArticle

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

1
Graduate School of Engineering and Science, Shibaura Institute of Technology, Saitama 337-8570, Japan
2
Department of Bioscience Engineering, Shibaura Institute of Technology, Saitama 337-8570, Japan
*
Author to whom correspondence should be addressed.
Appl. Sci. 2018, 8(4), 499; https://doi.org/10.3390/app8040499
Received: 26 February 2018 / Revised: 23 March 2018 / Accepted: 23 March 2018 / Published: 26 March 2018
(This article belongs to the Section Mechanical Engineering)
Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects’ lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system. View Full-Text
Keywords: gait training device; assist-as-needed; robot orthosis; pneumatic artificial muscle; bi-articular muscle; computed torque control; fractional calculus gait training device; assist-as-needed; robot orthosis; pneumatic artificial muscle; bi-articular muscle; computed torque control; fractional calculus
Show Figures

Figure 1

MDPI and ACS Style

Dao, Q.-T.; Yamamoto, S.-I. Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation. Appl. Sci. 2018, 8, 499.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Search more from Scilit
 
Search
Back to TopTop