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Model-Based Hybrid Cooperative Control of Hip-Knee Exoskeleton and FES Induced Ankle Muscles for Gait Rehabilitation.
- Source :
-
International Journal of Pattern Recognition & Artificial Intelligence . Sep2017, Vol. 31 Issue 9, p-1. 25p. - Publication Year :
- 2017
-
Abstract
- To regain mobility, stroke patients need to receive repetitive and intensive therapy. Robot-assisted rehabilitation is an active area of research. Cheap robotic leg rehabilitation devices should be developed to meet the demands and assist most patients. A low cost hip-knee exoskeleton prototype powered by pneumatic muscles was developed. On this basis, Functional Electrical Stimulation (FES) induced paralyzed muscles to realize ankle joint rehabilitation training. These three ankle muscles: the tibialis anterior, the soleus, and the gastrocnemius under electrical stimulation cooperated together to realize optimally coordinated control of dorsiflexion and plantar-flexion movement. As both of pneumatic muscle and FES induced muscle possess highly nonlinear characteristics, a sliding control algorithm called Chattering mitigation Robust Variable Control (CRVC) was applied to leg hybrid rehabilitation. The combination of exoskeleton and FES is a promising way to reduce the cost and the complexity of designing hip-knee-ankle exoskeleton. The proposed hybrid method was verified by treadmill-based gait training experiments. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 02180014
- Volume :
- 31
- Issue :
- 9
- Database :
- Academic Search Index
- Journal :
- International Journal of Pattern Recognition & Artificial Intelligence
- Publication Type :
- Academic Journal
- Accession number :
- 123383889
- Full Text :
- https://doi.org/10.1142/S0218001417590194