Safe and Compliant Guidance by a Powered Knee Exoskeleton for Robot-Assisted Rehabilitation of Gait
In the research field of robot-assisted gait rehabilitation there is increased focus on the improvement of physical human-robot interaction by means of high-performance actuator technologies and dedicated control strategies. In this context we propose a combination of lightweight, intrinsically comp...
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| Published in | Advanced robotics Vol. 25; no. 5; pp. 513 - 535 |
|---|---|
| Main Authors | , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Taylor & Francis Group
01.01.2011
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0169-1864 1568-5535 |
| DOI | 10.1163/016918611X558225 |
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| Abstract | In the research field of robot-assisted gait rehabilitation there is increased focus on the improvement of physical human-robot interaction by means of high-performance actuator technologies and dedicated control strategies. In this context we propose a combination of lightweight,
intrinsically compliant, high-torque actuators (pleated pneumatic artificial muscles) with safe and adaptable guidance along a target trajectory by means of proxy-based sliding mode control. We developed a powered knee exoskeleton (KNEXO) to evaluate these concepts. In addition to the trajectory-based
controller a torque controller was implemented with a view to minimizing the interaction during unassisted walking. First, various treadmill walking experiments were performed with unimpaired subjects wearing KNEXO to evaluate the performance of the proposed controllers. Test results confirm
the ability of KNEXO to display low actuator torques in unassisted mode and to provide safe, adaptable guidance in assisted mode. Subsequently, a multiple sclerosis patient participated in a series of pilot experiments. Provided there was some patient-specific controller tuning KNEXO was found
to effectively support and compliantly guide the subject's knee. |
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| AbstractList | In the research field of robot-assisted gait rehabilitation there is increased focus on the improvement of physical human-robot interaction by means of high-performance actuator technologies and dedicated control strategies. In this context we propose a combination of lightweight,
intrinsically compliant, high-torque actuators (pleated pneumatic artificial muscles) with safe and adaptable guidance along a target trajectory by means of proxy-based sliding mode control. We developed a powered knee exoskeleton (KNEXO) to evaluate these concepts. In addition to the trajectory-based
controller a torque controller was implemented with a view to minimizing the interaction during unassisted walking. First, various treadmill walking experiments were performed with unimpaired subjects wearing KNEXO to evaluate the performance of the proposed controllers. Test results confirm
the ability of KNEXO to display low actuator torques in unassisted mode and to provide safe, adaptable guidance in assisted mode. Subsequently, a multiple sclerosis patient participated in a series of pilot experiments. Provided there was some patient-specific controller tuning KNEXO was found
to effectively support and compliantly guide the subject's knee. In the research field of robot-assisted gait rehabilitation there is increased focus on the improvement of physical human-robot interaction by means of high-performance actuator technologies and dedicated control strategies. In this context we propose a combination of lightweight, intrinsically compliant, high-torque actuators (pleated pneumatic artificial muscles) with safe and adaptable guidance along a target trajectory by means of proxy-based sliding mode control. We developed a powered knee exoskeleton (KNEXO) to evaluate these concepts. In addition to the trajectory-based controller a torque controller was implemented with a view to minimizing the interaction during unassisted walking. First, various treadmill walking experiments were performed with unimpaired subjects wearing KNEXO to evaluate the performance of the proposed controllers. Test results confirm the ability of KNEXO to display low actuator torques in unassisted mode and to provide safe, adaptable guidance in assisted mode. Subsequently, a multiple sclerosis patient participated in a series of pilot experiments. Provided there was some patient-specific controller tuning KNEXO was found to effectively support and compliantly guide the subject's knee. References: 14 references open in new window Opening the references page in a new window requires javascript to be enabled in your browser. Articles that cite this article? |
| Author | Knaepen, K. Van Damme, M. Vanderborght, B. Meeusen, R. Duerinck, S. Lefeber, D. Beyl, P. |
| Author_xml | – sequence: 1 givenname: P. surname: Beyl fullname: Beyl, P. – sequence: 2 givenname: K. surname: Knaepen fullname: Knaepen, K. – sequence: 3 givenname: S. surname: Duerinck fullname: Duerinck, S. – sequence: 4 givenname: M. surname: Van Damme fullname: Van Damme, M. – sequence: 5 givenname: B. surname: Vanderborght fullname: Vanderborght, B. – sequence: 6 givenname: R. surname: Meeusen fullname: Meeusen, R. – sequence: 7 givenname: D. surname: Lefeber fullname: Lefeber, D. |
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| SubjectTerms | Actuators Exoskeletons Gait Knees Multiple sclerosis PHYSICAL HUMAN-ROBOT INTERACTION PNEUMATIC MUSCLES POWERED KNEE EXOSKELETON PROXY-BASED SLIDING MODE CONTROL Rehabilitation ROBOT-ASSISTED GAIT REHABILITATION Sliding mode control Walking |
| Title | Safe and Compliant Guidance by a Powered Knee Exoskeleton for Robot-Assisted Rehabilitation of Gait |
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