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.
Highlights
Robot gait training systems which help the patient regain their gait function of the lower limb via repetitive movement in training sessions have received great attention in the last decade
With the proposed control method, the system reaches the steady state in 2 gait cycles (GCs) and the root mean square tracking error (RMSTE) are 2.96◦ and 1.89◦ for hip and knee joints, respectively
The mathematical model of the robotic orthosis manipulated by additional bi-articular muscles is built
Summary
Robot gait training systems which help the patient regain their gait function of the lower limb via repetitive movement in training sessions have received great attention in the last decade. One typical example is the LOKOMAT system from Hocoma AG, Volketswill, Switzerland [1]. This system has been available on the market and extensively studied in many rehabilitation centers. This system consists of a bodyweight support, a treadmill and a powered leg orthosis. It is capable of providing various training strategies such as trajectory tracking control and patient cooperative or assist-as-needed (AAN) [2,3,4]. The hip and knee joints are actuated by a direct current (DC) motor with helical gears
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