Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation
We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of th...
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| Published in | Bioinspiration & biomimetics Vol. 9; no. 1; pp. 16007 - 17 |
|---|---|
| Main Authors | , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
England
IOP Publishing
01.03.2014
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1748-3182 1748-3190 1748-3190 |
| DOI | 10.1088/1748-3182/9/1/016007 |
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| Abstract | We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle-tendon-ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27° (14° dorsiflexion and 13° plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments. |
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| AbstractList | We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle-tendon-ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27° (14° dorsiflexion and 13° plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments. We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle-tendon-ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27[degrees] (14[degrees] dorsiflexion and 13[degrees] plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments. We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle-tendon-ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27° (14° dorsiflexion and 13° plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments.We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle-tendon-ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27° (14° dorsiflexion and 13° plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments. |
| Author | Wood, Robert J Park, Yong-Lae Pérez-Arancibia, Néstor O Goldfield, Eugene C Nagpal, Radhika Chen, Bor-rong Young, Diana Stirling, Leia |
| Author_xml | – sequence: 1 givenname: Yong-Lae surname: Park fullname: Park, Yong-Lae email: ylpark@cs.cmu.edu organization: Robotics Institute, Carnegie Mellon University , Pittsburgh, PA 15213, USA – sequence: 2 givenname: Bor-rong surname: Chen fullname: Chen, Bor-rong organization: BioSensics, LLC. , Cambridge, MA 02142, USA – sequence: 3 givenname: Néstor O surname: Pérez-Arancibia fullname: Pérez-Arancibia, Néstor O organization: Department of Aerospace and Mechanical Engineering , University of Southern California , Los Angeles, CA 90089, USA – sequence: 4 givenname: Diana surname: Young fullname: Young, Diana organization: Wyss Institute for Biologically Inspired Engineering, Harvard University , Boston, MA 02115, USA – sequence: 5 givenname: Leia surname: Stirling fullname: Stirling, Leia organization: Department of Aeronautics and Astronautics, Massachusetts Institute of Technology , Cambridge, MA 02139, USA – sequence: 6 givenname: Robert J surname: Wood fullname: Wood, Robert J organization: Wyss Institute for Biologically Inspired Engineering, Harvard University , Boston, MA 02115, USA – sequence: 7 givenname: Eugene C surname: Goldfield fullname: Goldfield, Eugene C organization: Boston Children's Hospital , Boston, MA 02115, USA – sequence: 8 givenname: Radhika surname: Nagpal fullname: Nagpal, Radhika organization: Wyss Institute for Biologically Inspired Engineering, Harvard University , Boston, MA 02115, USA |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/24434598$$D View this record in MEDLINE/PubMed |
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| CODEN | BBIICI |
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| Copyright | 2014 IOP Publishing Ltd |
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| DocumentTitleAlternate | Design and control of a bio-inspired soft wearable robotic device for ankle--foot rehabilitation |
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| References | 45 46 47 Lambrecht B G A (13) 2009 49 Balasubramanian K (44) 2005 Geboers J F (8) 2000 50 51 Wolbrecht E T (38) 2006 10 54 Yamamoto S (6) 1993 11 12 56 57 58 15 Ljung L (53) 1999 59 16 17 18 19 Jien S (36) 2009 Balasubramanian K (43) 2003 Slabaugh G (33) 1999 Pérez Arancibia N O (52) 2004 Svensson W (24) 2008 4 7 9 Winters T F (1) 1987; 69 21 Park Y-L (31) 2012 22 23 Galiana I (27) 2012 25 26 28 29 Mengüc Y (34) 2013 Blanton S (3) 2002 Krebs H (14) 2005 Au S K (48) 2007 32 35 37 Rose J (55) 2006 Miller F (5) 2005 39 Fowler E G (60) 2001 Park Y-L (2) 2011 Park Y-L (30) 2010; 20 40 41 Ferris D P (20) 2005 42 |
| References_xml | – start-page: 298 year: 2007 ident: 48 publication-title: Proc. IEEE 10th Int. Conf. on Rehabilitation Robotics – year: 2005 ident: 14 publication-title: Textbook of Neural Repair and Rehabilitation – ident: 10 doi: 10.1046/j.1460-9568.1998.00454.x – start-page: 317 year: 2012 ident: 27 publication-title: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems – ident: 46 doi: 10.1016/S0093-6413(03)00088-0 – ident: 18 doi: 10.1109/TRO.2009.2019783 – volume: 20 issn: 0960-1317 year: 2010 ident: 30 publication-title: J. Micromech. Microeng. – ident: 49 doi: 10.1109/TRO.2008.2008747 – ident: 28 doi: 10.1109/TNSRE.2010.2047116 – start-page: 4488 year: 2011 ident: 2 publication-title: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems – ident: 35 doi: 10.1177/0278364909353956 – ident: 37 doi: 10.1007/3-540-26415-9 – start-page: 2687 year: 2006 ident: 38 publication-title: Proc. 28th IEEE EMBS Annual Int. Conf. – ident: 12 doi: 10.1108/01439910310457706 – ident: 39 doi: 10.1109/70.481753 – ident: 40 doi: 10.1109/37.833638 – ident: 57 doi: 10.1016/j.automatica.2010.04.007 – ident: 4 doi: 10.1186/1743-0003-8-1 – volume: 69 start-page: 437 year: 1987 ident: 1 publication-title: J. Bone Joint Surg. doi: 10.2106/00004623-198769030-00016 – ident: 58 doi: 10.1115/1.2801161 – issn: 1065-8483 year: 2005 ident: 20 publication-title: J. Appl. Biomech. – ident: 22 doi: 10.1682/JRRD.2010.04.0054 – ident: 9 doi: 10.1053/apmr.2002.27462 – ident: 19 doi: 10.1117/12.544510 – start-page: 432 year: 2003 ident: 43 publication-title: Proc. 22nd Int. Conf. North American Fuzzy Information Processing Society – ident: 26 doi: 10.1007/s11665-011-9858-7 – ident: 51 doi: 10.1109/9.328824 – ident: 25 doi: 10.1109/TMECH.2009.2036170 – ident: 45 doi: 10.1016/j.mechatronics.2006.03.011 – start-page: 639 year: 2009 ident: 13 publication-title: Proc. IEEE Int. Conf. on Robotics and Automation – ident: 50 doi: 10.1109/TNSRE.2009.2039620 – ident: 56 doi: 10.1007/978-1-4757-3290-0 – year: 2001 ident: 60 publication-title: Phys. Ther. – ident: 21 doi: 10.1016/j.jbiomech.2005.05.018 – year: 2006 ident: 55 publication-title: Human Walking – ident: 23 doi: 10.1115/1.2264391 – start-page: 60256 year: 2004 ident: 52 publication-title: Proc. ASME Int. Mechanical Engineering Congress and Exposition – year: 1999 ident: 33 – ident: 16 doi: 10.1109/TNSRE.2008.2008280 – year: 1999 ident: 53 publication-title: System Identification – ident: 42 doi: 10.1109/TNSRE.2008.918389 – ident: 59 doi: 10.1093/gerona/55.10.B465 – start-page: 472 year: 2005 ident: 44 publication-title: Proc. Annual Meeting North American Fuzzy Information Processing Society – ident: 41 doi: 10.1243/09544119JEIM803 – ident: 47 doi: 10.1114/1.1554921 – issn: 0036-5505 year: 2000 ident: 8 publication-title: Scand. J. Rehabil. Med. – ident: 29 doi: 10.1109/TRO.2007.909786 – ident: 15 doi: 10.1109/TNSRE.2003.823266 – ident: 32 doi: 10.1109/JSEN.2012.2200790 – start-page: 301 year: 2008 ident: 24 publication-title: Proc. IEEE Int. Conf. on Robotics Automation and Mechatronics – ident: 17 doi: 10.1016/j.pmrj.2009.10.012 – start-page: 1595 year: 2012 ident: 31 publication-title: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems – year: 2002 ident: 3 publication-title: Phys. Ther. – ident: 7 doi: 10.2165/00007256-199010010-00005 – start-page: 5289 year: 2013 ident: 34 publication-title: Proc. IEEE Int. Conf. on Robotics and Automation – issn: 1040-8800 year: 1993 ident: 6 publication-title: J. Prosthet. Orthot. – ident: 11 doi: 10.1212/WNL.50.4.1115 – year: 2005 ident: 5 publication-title: Cerebral Palsy – ident: 54 doi: 10.1007/978-1-4613-0465-4 – start-page: 1383 year: 2009 ident: 36 publication-title: Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics |
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| Snippet | We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The... |
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| SubjectTerms | active orthosis Artificial muscles bio-inspired robotics Biofeedback, Psychology - instrumentation Biological Biomimetics Biomimetics - instrumentation Computer Simulation Controllers Design engineering Devices Equipment Design Equipment Failure Analysis feedback control Foot Orthoses Gait Disorders, Neurologic - rehabilitation Hardness Human Humans Models, Biological Muscle, Skeletal - physiopathology pneumatic artificial muscles (PAMs) Prototypes Robotics - instrumentation soft robotics soft sensors Therapy, Computer-Assisted - instrumentation wearable robotics |
| Title | Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation |
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