To help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function, this study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot. The a...
Lower limb rehabilitation robot (LLRR) can effectively help restore the lower limb’s motor function of patients with hemiplegia caused by stroke through a large number of targeted and repetitive rehabilitation training. To improve the safety an...
To meet the various need of stroke patients’ rehabilitation training and carry out complex task training in real scenes, the structure of a lower limb rehabilitation robot with movements in the sagittal plane and coronal plane is usually compli...
As important auxiliary equipment, rehabilitation robots are widely used in rehabilitation treatment and daily life assistance. The rehabilitation robot proposed in this paper is mainly composed of an omnidirectional mobile platform module, a lower li...
Most existing lower-limb rehabilitation robots (LLRR) for stroke and postoperative rehabilitation are bulky and prone to misalignments between robot and human joints. These drawbacks hamper LLRR application, leading to poor arthro-kinematic compatibi...
Most lower limb rehabilitation robots are limited to specific training postures to adapt to stroke patients in multiple stages of recovery. In addition, there is a lack of attention to the switching functions of the training side, including left, rig...
Conventional lower-limb rehabilitation robots are large, complicated to wear, and require moving the patient to a designated position. To solve these problems, a new single-legged lower-limb rehabilitation robot (S-LLRR) that is easy to move and suit...
This paper is focused on the development of a control system, implemented on a parallel robot designed for the lower limb rehabilitation of bedridden stroke survivors. The paper presents the RECOVER robotic system kinematics, further implemented into...
In rehabilitation, physicians plan lower-limb exercises via linear guidance. Ensuring efficacy and safety, they design patient-specific paths, carefully plotting smooth trajectories to minimize jerks. Replicating their precision in robotics is a majo...
The lower limb rehabilitation robot is a typical man-machine coupling system. Aiming at the problems of insufficient physiological information and unsatisfactory safety performance in the compliance control strategy for the lower limb rehabilitation...
In response to the rehabilitation needs of stroke patients who are unable to benefit from conventional rehabilitation due to the COVID-19 epidemic, this paper designs a robot that combines on-site and telerehabilitation. The objective is to assist th...
Conventional lower-limb rehabilitation robots cannot provide in-time rehabilitation training for stroke patients in the acute stage due to their large size and mass as well as their complex wearing process. Aiming to solve the problems, first, a nove...
This study presents the clinical trial readiness and optimization of a parallel robotic system developed for early-stage lower limb rehabilitation of bedridden patients using feedback from healthy users and clinicians. The system combines a parallel...
Most lower limb rehabilitation robots use fixed training trajectories and lack participation of physiotherapists. In addition, there is a lack of attention on combining direct teaching function with rehabilitation robots, which enables physiotherapis...
The idea of developing a multi-joint rehabilitation robot is to satisfy the demands for recovery of lower limb functionality in hemiplegic impairments and assist the physiotherapists with their therapy plans. This work aims at to implement the Lyapun...
In order to solve the external periodic disturbance and unknown dynamics influence in the passive rehabilitation process of a rope-driven lower limb rehabilitation robot, a control method with periodic repeated learning was designed. In this control...
The rehabilitation robot is an application of robotic technology for people with limb disabilities. This paper investigates a new applicable and effective sitting/lying lower limb rehabilitation robot (the LLR-Ro). In order to improve the patient&rsq...
Population aging is an inevitable trend in contemporary society, and the application of technologies such as human–machine interaction, assistive healthcare, and robotics in daily service sectors continues to increase. The lower limb exoskeleto...
This study addresses gait reference trajectory tracking control in a 13-degree-of-freedom lower-limb rehabilitation robot, where patients exhibit nonlinear perturbations in lower-limb muscle groups and gait irregularities during exoskeleton-assisted...
The restricted posture and unrestricted compliance brought by the controller during human–exoskeleton interaction (HEI) can cause patients to lose balance or even fall. In this article, a self-coordinated velocity vector (SCVV) double-layer con...
Safety is a significant evaluation index of rehabilitation medical devices and a significant precondition for practical application. However, the safety evaluation of cable-driven rehabilitation robots has not been reported, so this work aims to stud...
Compliant physical interactions, interactive learning, and robust position control are crucial to improving the effectiveness and safety of rehabilitation robots. This paper proposes a human–robot cooperation control strategy (HRCCS) for lower...
Lower limb rehabilitation exoskeleton robots have the characteristics of nonlinearity and strong coupling, and they are easily disturbed during operation by environmental factors. Thus, an accurate dynamic model of the robot is difficult to obtain, a...
The motion control system of a lower-limb exoskeleton rehabilitation robot (LLERR) is designed to assist patients in lower-limb rehabilitation exercises. This research designed a motion controller for an LLERR-based on the Twin Delayed Deep Determini...
In this paper, an adaptive trajectory tracking control method combining proportional–integral–derivative (PID) control, Radial Basis Function neural network (RBFNN)-based integral sliding mode control (ISMC), and feedforward control, i.e....
The research on rehabilitation robots is gradually moving toward combining human intention recognition with control strategies to stimulate user involvement. In order to enhance the interactive performance between the robot and the human body, we pro...
Lower limb exoskeleton rehabilitation robots have become an important direction for development in today’s society. These robots can provide support and power to assist patients in walking and movement. In order to achieve better interaction be...
In this study, we integrated virtual reality (VR) goggles and a motor imagery (MI) brain-computer interface (BCI) algorithm with a lower-limb rehabilitation exoskeleton robot (LLRER) system. The MI-BCI system was integrated with the VR goggles to ide...
Robotic systems for lower limb rehabilitation are essential for improving patients’ physical conditions in lower limb rehabilitation and assisting patients with various locomotor dysfunctions. These robotic systems mainly integrate sensors, act...
Active power-assist lower limb exoskeleton robots aim to enhance wearer assistance while ensuring wearer comfort and simplifying the exoskeleton’s design and control. This study proposes an active assistance method known as Equivalent Force on...
Bio-controllers inspired by the characteristics of the human lower limb play an important role in the study of lower limb rehabilitation robots (LLRRs). However, the inverse dynamics modeling of robots for human lower limb rehabilitation remains a ch...
With an aging population and the high incidence of neurological diseases, rehabilitative lower limb exoskeleton robots, as a wearable assistance device, present important application prospects in gait training and human function recovery. As the core...
To overcome the problem of insufficient adaptability to the motion environment of lower limb exoskeleton robots, this paper introduces computer vision technology into the motion control of lower limb exoskeleton robots and studies an obstacle-crossin...
Ensuring the reliability and stability of lower limb rehabilitation exoskeleton robots during rehabilitation training is of paramount importance. Sensor faults in such systems can degrade overall performance and may even pose significant safety hazar...
In recent decades, the field of physical rehabilitation, with the help of robotic systems that aid the population of any age with locomotor difficulties, has been evolving rapidly. Several robotic exoskeleton systems of the lower limbs have been prop...
This study aims to develop a lower limb robotic exoskeleton with the use of artificial neural networks for the purpose of rehabilitation. First, the PID control with iterative learning controller is used to test the proposed lower limb robotic exoske...
The exoskeleton robot is a wearable electromechanical device inspired by animal exoskeletons. It combines technologies such as sensing, control, information, and mobile computing, enhancing human physical abilities and assisting in rehabilitation tra...
In recent years, there has been a sharp increase in the number of elderly people in South Korea; this has led to rising costs and concerns on the quality of physical therapy treatment involving rehabilitation robotic devices. Therefore, the governmen...
Ground walking training using a floating-base lower-limb exoskeleton rehabilitation robot improves patients’ dynamic balance function, thereby increasing their motor and daily life activity capabilities. We propose a balance-directed motion gen...
To date, several alterations in the gait pattern can be treated through rehabilitative approaches and robot assisted therapy (RAT). Gait data and gait trajectories are essential in specific exoskeleton control strategies. Nevertheless, the scarcity o...
Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and mus...
This paper presents the development and initial evaluation of a novel protocol for robot-assisted lower limb rehabilitation. It integrates dual-modal patient interaction, employing mirror therapy and an auto-adaptive EMG-driven control system, design...
With the acceleration of global aging and the rising incidence of stroke, the demand for lower limb rehabilitation has been steadily increasing. Traditional therapeutic methods can no longer meet the growing needs, which has led to the widespread app...
Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exo...
To facilitate walking rehabilitation training for individuals with lower limb paralysis, a self-balancing exoskeleton robot with 12 degrees of freedom was conceived. The principal structural design was conducted in line with the biomechanics of the h...
The series elastic actuator (SEA) is generally used as the torque source of the exoskeleton robot for human–robot interaction (HRI). In this paper, an impedance control method for lower limb exoskeleton robots driven by SEA is presented. First,...
The rapid aging of the global population and the escalating prevalence of conditions such as stroke and spinal cord injuries are driving an urgent demand for effective lower-limb rehabilitation. This necessitates the development of robotic devices ca...
Most of currently rehabilitation robots cannot achieve the adduction/abduction (A/A) training of the hip joint and lack the consideration of the patient handling. This paper presents a four degrees of freedom (DOF) spatial workspace lower limb rehabi...
The design and control of lower-limb rehabilitation robots for patients after a stroke has gained significant attention. This paper presents the dynamic analysis and control of a 3-degrees-of-freedom lower-limb rehabilitation robot using combined pos...
Lower limb rehabilitation robot (LLRR) users, to successfully conduct isotonic exercises, require real-time feedback on the torque they exert on the robot to meet the goal of the treatment. Still, direct torque measuring is expensive, and indirect en...
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