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
Article Menu
Issue 4 (April) cover image

Export Article

Open AccessArticle
Appl. Sci. 2018, 8(4), 499; https://doi.org/10.3390/app8040499

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.
Received: 26 February 2018 / Revised: 23 March 2018 / Accepted: 23 March 2018 / Published: 26 March 2018
(This article belongs to the Section Mechanical Engineering)
Full-Text   |   PDF [8759 KB, uploaded 26 March 2018]   |  

Abstract

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
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
SciFeed

Share & Cite This Article

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.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top