Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Assistive Design And Multiaxis Self Tuning Control Of A Novel Exoskeleton Robot Based On Fuzzy Logic Control In Gait Phase Detection For Rehabilitation Of Lower Limb
Download Assistive Design And Multiaxis Self Tuning Control Of A Novel Exoskeleton Robot Based On Fuzzy Logic Control In Gait Phase Detection For Rehabilitation Of Lower Limb full books in PDF, epub, and Kindle. Read online Assistive Design And Multiaxis Self Tuning Control Of A Novel Exoskeleton Robot Based On Fuzzy Logic Control In Gait Phase Detection For Rehabilitation Of Lower Limb ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Assistive Design and Multiaxis Self-tuning Control of a Novel Exoskeleton Robot Based on Fuzzy Logic Control in Gait Phase Detection for Rehabilitation of Lower Limb by : 李明展
Download or read book Assistive Design and Multiaxis Self-tuning Control of a Novel Exoskeleton Robot Based on Fuzzy Logic Control in Gait Phase Detection for Rehabilitation of Lower Limb written by 李明展 and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Control Strategies for Robotic Exoskeletons to Assist Post-Stroke Hemiparetic Gait by : Julio Salvador Lora Millán
Download or read book Control Strategies for Robotic Exoskeletons to Assist Post-Stroke Hemiparetic Gait written by Julio Salvador Lora Millán and published by Springer Nature. This book was released on with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Interfacing Humans and Robots for Gait Assistance and Rehabilitation by : Carlos A. Cifuentes
Download or read book Interfacing Humans and Robots for Gait Assistance and Rehabilitation written by Carlos A. Cifuentes and published by Springer Nature. This book was released on 2021-09-16 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: The concepts represented in this textbook are explored for the first time in assistive and rehabilitation robotics, which is the combination of physical, cognitive, and social human-robot interaction to empower gait rehabilitation and assist human mobility. The aim is to consolidate the methodologies, modules, and technologies implemented in lower-limb exoskeletons, smart walkers, and social robots when human gait assistance and rehabilitation are the primary targets. This book presents the combination of emergent technologies in healthcare applications and robotics science, such as soft robotics, force control, novel sensing methods, brain-computer interfaces, serious games, automatic learning, and motion planning. From the clinical perspective, case studies are presented for testing and evaluating how those robots interact with humans, analyzing acceptance, perception, biomechanics factors, and physiological mechanisms of recovery during the robotic assistance or therapy. Interfacing Humans and Robots for Gait Assistance and Rehabilitation will enable undergraduate and graduate students of biomedical engineering, rehabilitation engineering, robotics, and health sciences to understand the clinical needs, technology, and science of human-robot interaction behind robotic devices for rehabilitation, and the evidence and implications related to the implementation of those devices in actual therapy and daily life applications.
Book Synopsis Human-in-the-loop System Design and Control Adaptation for Behavior-Assistant Robots by : Yuquan Leng
Download or read book Human-in-the-loop System Design and Control Adaptation for Behavior-Assistant Robots written by Yuquan Leng and published by Frontiers Media SA. This book was released on 2024-06-03 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.
Book Synopsis Human-Robot Interaction Strategies for Walker-Assisted Locomotion by : Carlos A. Cifuentes
Download or read book Human-Robot Interaction Strategies for Walker-Assisted Locomotion written by Carlos A. Cifuentes and published by Springer. This book was released on 2016-06-04 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed.
Book Synopsis Development and Assessment of a Control Approach for a Lower-limb Exoskeleton for Use in Gait Rehabilitation Post Stroke by : Spencer Ambrose Murray
Download or read book Development and Assessment of a Control Approach for a Lower-limb Exoskeleton for Use in Gait Rehabilitation Post Stroke written by Spencer Ambrose Murray and published by . This book was released on 2016 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Design and Assist-as-needed Control of an Intrinsically Compliant Robotic Orthosis for Gait Rehabilitation by : Shahid Hussain
Download or read book Design and Assist-as-needed Control of an Intrinsically Compliant Robotic Orthosis for Gait Rehabilitation written by Shahid Hussain and published by . This book was released on 2012 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Neurologic injuries, such as stroke and spinal cord injuries (SCI), cause damage to neural systems and motor function, which results in lower limb impairment and gait disorders. Subjects with gait disorders require specific training to regain functional mobility. Traditionally, manual physical therapy is used for the gait training of neurologically impaired subjects which has limitations, such as the excessive workload and fatigue of physical therapists. The rehabilitation engineering community is working towards the development of robotic devices and control schemes that can assist during the gait training. The initial prototypes of these robotic gait training orthoses use conventional, industrial actuators that are either extremely heavy or have high endpoint impedance (stiffness). Neurologically impaired subjects often suffer from severe spasms. These stiff actuators may produce forces in response to the undesirable motions, often causing pain or discomfort to patients. The control schemes used by the initial prototypes of robotic gait training orthoses also have a limited ability to provide seamless, adaptive, and customized robotic assistance. This requires new design and control methods to be developed to increase the compliance and adaptability of these automated gait training devices. This research introduces the development of a new robotic gait training orthosis that is intrinsically compliant. Novel, assist-as-needed (AAN) control strategies are proposed to provide adaptive and customized robotic assistance to subjects with different levels of neurologic impairments. The new robotic gait training orthosis has six degrees of freedom (DOFs), which is powered by pneumatic muscle actuators (PMA). The device provides naturalistic gait pattern and safe interaction with subjects during gait training. New robust feedback control schemes are proposed to improve the trajectory tracking performance of PMAs. A dynamic model of the device and a human lower limb musculoskeletal model are established to study the dynamic interaction between the device and subjects. In order to provide adaptive, customized robot assisted gait training and to enhance the subject's voluntary participation in the gait training process, two new control schemes are proposed in this research. The first control scheme is based on the impedance control law. The impedance control law modifies the robotic assistance based on the human subject's active joint torque contributions. The levels of robot compliance can be selected by the physical therapist during the impedance control scheme according to the disability level and stage of rehabilitation of neurologically impaired subjects. The second control scheme is proposed to overcome the shortcomings of impedance control scheme and to provide seamless adaptive, AAN gait training. The adaptive, AAN gait training scheme is based on the estimation of the disability level of neurologically impaired subjects based on the kinematic error and adapts the robotic assistance accordingly. All the control schemes have been evaluated on neurologically intact subjects and the results show that these control schemes can deliver their intended effects. Rigorous clinical trials with neurologically impaired subjects are required to prove the therapeutic efficacy of the proposed robotic orthosis and the adaptive gait training schemes. The concept of intrinsically compliant robotic gait training orthosis, together with the trajectory tracking and impedance control of robotic gait training orthosis are the important contributions of this research. The algorithms and models developed in this research are applicable to the development of other robotic devices for rehabilitation and assistive purposes. The major contribution of the research lies in the development of a seamless, adaptive AAN gait training strategy. The research will help in evolving the field of compliant actuation of rehabilitation robots along with the development of new control schemes for providing seamless, adaptive AAN gait training.
Book Synopsis Velocity Field Based Active-assistive Control for Upper Limb Rehabilitation Exoskeleton Robot by : 賈恩宇
Download or read book Velocity Field Based Active-assistive Control for Upper Limb Rehabilitation Exoskeleton Robot written by 賈恩宇 and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Design Analysis and Assist-as-needed Control of a Stephenson III Six-Bar Linkage-based Robotic Gait Rehabilitation Orthosis by : Akim Kapsalyamov
Download or read book Design Analysis and Assist-as-needed Control of a Stephenson III Six-Bar Linkage-based Robotic Gait Rehabilitation Orthosis written by Akim Kapsalyamov and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Repetitive and task-oriented movements can strengthen muscles and improve walking capabilities among patients experiencing gait impairments due to neurological disorders. The demand for effective rehabilitation is high, given the large number of patients suffering from gait impairments. The traditional physiotherapy is laborious, may not provide the desired cadence and gait patterns, and requires constant presence of physiotherapists. This often leads to delayed treatment for many patients due to the high demand and a shortage of physiotherapists. Early phase post-stroke gait rehabilitation is crucial, as the ability to recuperate lost muscular abilities reduces over time. Lower limb wearable rehabilitation robots have shown promise in improving the locomotor capabilities of patients experiencing gait impairments and reducing the burden on physiotherapists. However, the high cost of commercially available robots makes this technology inaccessible to many hospitals and rehabilitation centers. To address this issue, ongoing research is focusing on improving existing rehabilitation robots in terms of ease of use, innovative design, and cost reduction. Closed-loop linkage mechanisms have recently drawn attention in the development of gait rehabilitation robots due to their ability to address the drawbacks of commercially available robot orthoses. These mechanisms are affordable and capable of providing suitable trajectories for gait training therapy. One of the challenging aspects in designing linkage-based robots is determining and calculating linkage parameters that will produce the required gait trajectories. This thesis presents an innovative approach to synthesizing the linkage dimensions to provide natural gait trajectories. Additionally, it introduces a novel and affordable robotic orthosis based on Stephenson III's six-bar linkage. The developed gait rehabilitation orthosis is a bilateral system powered by a single actuator on each side of the leg, capable of providing naturalistic knee and ankle joint motions relative to the hip joint, which are required during therapeutic gait training. This orthosis can be used in clinical settings and is actuated using only a single motor, yet it is capable of providing complex lower limb trajectory motions at its end-effector. The initial design optimization was carried out using a genetic algorithm (GA), and a deep generative neural network model was developed for the linkage synthesis problem. This model represents an advancement in current kinematic synthesis methods, enabling it to generate dimensions of the links that satisfy various required target human lower limb trajectories during walking in a short period. It will assist designers in determining optimal linkage dimensions to generate the required end-effector trajectories within a single mechanism. To enhance the mechanism's velocity regulation control scheme and address fluctuations that may occur during operation due to external disturbances such as fixed patient's leg and inertia in closed loop linkage mechanisms, a Deep Reinforcement Learning control scheme was proposed to regulate the speed of the input crank to reach satisfactory performance needed for gait rehabilitation training. Experimental evaluations with healthy human subjects were conducted to demonstrate that the mechanism is capable of directing lower limbs on naturalistic gait trajectories with a required walking speed. Furthermore, given the varied disability levels among neurologically impaired patients, the orthosis incorporates a patient cooperative control strategy. This is achieved through the application of impedance learning control, operating on an "assist-as-needed" principle. This innovative approach enables the robot to modify the assistive force it provides during gait cycle aligning with the patient's disability level and contributing towards active participation during the gait rehabilitation training. The proposed control scheme was evaluated in two distinct gait training modes while being worn by a human subject. In the "passive" mode subjects refrained from moving their legs, allowing the robot to guide their movements. While during the second 'active' mode, the subject engaged in normal walking activity while wearing the robot. Experimental results with healthy human subjects indicated reduced robot torques consequent to an increase in human torque. These results substantiate that customized robotic assistance based on the individual needs of patients can enhance their participation, which is essential to improve the treatment outcomes. The concept of this research lies in the development of a novel, affordable, and adaptable robotic orthosis based on Stephenson III's six-bar linkage mechanism, capable of delivering naturalistic individualized lower limb motion. It advances the fields of dimensional synthesis of closed loop linkage mechanisms rehabilitation robotics with the use of deep generative neural network and a Deep Reinforcement Learning control scheme for enhanced velocity regulation. Moreover, the application of impedance learning control encourages active patient participation in gait rehabilitation training by customizing assistive force based on the patient's disability level. With these advancements, the research contributes significantly to the development of more cost-effective, adaptable, and efficient robotic gait rehabilitation systems, presenting a promising solution for improving therapeutic outcomes for patients with gait impairments due to neurological disorders.
Book Synopsis An Intelligent Pneumatic Muscle Actuated Exoskeleton for Robotic Gait Rehabilitation by : Jinghui Brian Cao
Download or read book An Intelligent Pneumatic Muscle Actuated Exoskeleton for Robotic Gait Rehabilitation written by Jinghui Brian Cao and published by . This book was released on 2017 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gait disorder is a commonly lasting side-effect for stroke and spinal cord injury survivors. Conventional gait rehabilitation trainings provided by therapists are largely dependent on their experience. Such trainings are often challenging for the therapists due to their physically intensive nature. Hence, consistent optimal results cannot always be achieved. Robotic technologies were thus introduced to automate the gait rehabilitation trainings, in order to emancipate therapists from physically intensive work as well as making rehabilitation training more accessible to patients Research have shown that task specific repetitive training and patients' active participation can lead to more effective gait rehabilitation. However, conventional trajectory tracking controlled robotic gait rehabilitation could change the dynamics of the walking task, reduce inputs from patients' motor systems, lower their physical effort and thus result less effective outcomes. Therefore, it is important to ensure that the robotic gait rehabilitation training is more analogous to actual human walking and maximize the training subject's active participation. The goal of this thesis is the development of a new robotic GAit Rehabilitation EXoskeleton (GAREX) that is compliant with the current neurorehabilitation theories in order to achieve optimised robotic gait rehabilitation. Such goal is tackled systematically in terms of both robotic design and control algorithm research. GAREX was designed to provide safe, task specific gait rehabilitation to stroke patients. Pneumatic muscles (PM) actuators were used to drive GAREX, due to their high power/force to weight ratio and intrinsic compliance. Specially, the intrinsic compliance can create a wide range of dynamic environment for control strategy development. However, the negative correlation between PM's force output and contracting length means a trade-off between torque and range of motion specifications of the actuation system. The design of GAREX comprehensively addressed torque and joint range of motion requirements imposed by task-specific gait rehabilitation training. Control strategies are the key to implement the training theories into robotic operations. In order to encourage patients' active participation, the robot should be controlled to supply just enough guidance/assistance a patient needs to complete treadmill based gait training. To implement assist-as-needed (AAN) concept, the robot should also be able to assess the extent of active participation and change the assistance provided accordingly. The intrinsic compliance of GAREX's PM actuation system could be utilized to change the level of guidance. A new multi-input-multi-output (MIMO) sliding model (SM) controller was developed to adjust assistance while guiding training subjects to walk in predefined gait trajectories. Technical experimental validation indicated that controller was able to track reference gait trajectories and the desired joint space average antagonistic PM pressures. A study with 12 healthy subjects revealed strong statistical evidence that the proposed MIMO SM controller is able to vary the compliance of the exoskeleton To online assess the training patient's active participation, a fuzzy logic compliance adaptation (FLCA) controller is proposed. The FLCA algorithm utilizes the robotic kinematics and human- exoskeleton interaction torque of the knee joint, to estimate the extent of the patient's active participation. Based on the estimation, the desired compliance level can be automatically adjusted with higher compliance for more active participation and vice versa. Nevertheless, the FLCA algorithm does not require models of the exoskeleton and biomechanics of the training subject, which means less preparation work and easier implementation. Performance of the FLCA control system was validated with three healthy subjects who simulated different extents of participation. The FLCA control system could successfully adapt the joint actuation compliance accordingly in all the scenarios.
Book Synopsis Intelligent Motion Control, Intent Recognition, and Design of Innovative Wearable Robots by : Md Rejwanul Haque
Download or read book Intelligent Motion Control, Intent Recognition, and Design of Innovative Wearable Robots written by Md Rejwanul Haque and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable robots designed to augment, replace, or interact with the human body, have the potential to improve the quality of life; specifically, lower-limb robotic prostheses and exoskeletons can assist mobility-challenged individuals to walk more efficiently, and securely. However, the effectiveness of wearable robots is severely limited by the performance of the robot control system. This research aims to address some of the significant challenges related to the high-level control along with the hardware development of such wearable robots.One of the major challenges in high-level prosthesis controller development is the reliable gait data collection in real-world scenarios, while existing state of the art motion capture-based gait measurement is limited to laboratory environment. To address this challenge, two wearable devices were developed to study human locomotion for the development of an intelligent prosthesis controller.The first one is a novel exoskeleton-based portable gait data collection system. This device provides the capability of high accuracy and reliable gait measurement without the need for stationary instrumentation. Utilizing this exo-skeleton system, a multi-modal gait data collection study was conducted to develop a method for identifying a human's intended mode of motion or intermodal transition for the prosthesis control purpose. This work presents a new multi-dimensional dynamic time warping (mDTW)-based intent recognizer to provide high-accuracy recognition of the locomotion mode/mode transition sufficiently early in the gait cycle ensuring seamless control of the prosthesis.The second one is a shoe-based novel wearable sensor, namely Smart Lacelock device that can provide reliable measurement of the overall motion of the wearer's along with valuable information related to the ankle movement and the foot loading which can potentially be used in the adaptive control of wearable assistive devices.To provide a complete wearable robotic solution for the mobility challenged individuals, this research developed robotic lower limb prostheses and orthosis. The robotic lower limb prostheses in this work adopted a unique design framework of Common Core Components Knee-Ankle Prosthesis. This unified prosthesis is cost effective and light weight while ensures desired dynamic performance of healthy human-like walking. To measure the prosthesis structural load, as well as to quantify the interaction of the amputee user with the environment for prosthesis control purposes, a Force Moment Prosthesis Load Sensor was developed.Finally, this dissertation presents a robotic ankle-foot orthosis, which is essentially a wearable robot that acts in parallel to the user's biological ankle for motion assistance and has complete energy autonomy.
Book Synopsis Novel Control for a Post-Stroke Gait Rehabilitation Exoskeleton by : Robert Trott
Download or read book Novel Control for a Post-Stroke Gait Rehabilitation Exoskeleton written by Robert Trott and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke is the second highest cause of death worldwide and the third leading cause of adult disability across all age brackets. Recovering gait following stroke is a major goal of patients, and hence rehabilitation, as it is central to many activities of daily living. Of the different treatment modalities, robotic assisted gait training is growing in popularity, but is still considered complementary to, and not substitute for conventional therapies comprising physiotherapy, overground walking and body weight supported treadmill training. The potential advantages that lower limb robotics bring to neurorehabilitation over conventional therapies include, higher dosage, specificity, improved consistency, and duration, though these benefits have been slow to manifest. Exoskeletons are well placed to provide these benefits, as well as environmental variation and task salience if they can be used away from outpatient settings. Control strategies that may be enhancing of recovery are often confined to stationary exoskeletons, and the control of mobile exoskeletons is only loosely related to gait, if at all, which limits rehabilitation outcomes. -- The primary aim of this PhD thesis was to develop an adaptive, user-initiated gait Controller that aims to target a novel neural recovery pathway. The Controller would use a robotic exoskeleton, with the intention of developing novel neuroplasticity that is beneficial for gait and would be permissive of simultaneous control of hip and knee posture. A theoretical framework based on the principles of neuroplasticity was proposed that seeks to bring higher engagement, task variance, and volition to gait rehabilitation. This framework considers stroke and rehabilitation timelines and the interaction of the proposal with existing theory, how beneficial neuroplasticity may manifest, and how the proposal may be detrimental. A comprehensive survey of candidate lower limb devices followed (164 devices), to understand exactly what features are compatible, complementary, or contradictory to the proposed control method, and to understand the implications the various specifications have. Specifically, it was found that ambulating exoskeletons that can move around the environment were preferred for their ability to be used in the community and the home, and that extended joint range of motion will be permissive of activities that are supportive of gait such as sit-to-stand and stair ascent/descent. Of the various control systems that have been implemented with exoskeleton devices, trajectory control, where motion is enforced on the limb by the exoskeleton, is preferred. -- The method of control was assessed for suitability as a gait controller through a participant study (n = 21). Participants were asked to reproduce the motion required for the controller, and with minor modification to participant motion it was shown that reliable control signals can be obtained. The remainder of the thesis applies the learnings of the previous stages in the development of the Controller and an accompanying Sensor. The custom Sensor was designed with a small form factor to be applied on the Controller. The thesis concludes with an implementation of the Controller and a successful demonstration of the proposed concept, where the control signals are reproduced on a scale lower limb exoskeleton. The full technical detail and specification of the Controller, and the custom position Sensor developed specific for this application, are presented as part of this work. -- This work has added a new theoretical framework for gait control following stroke and has added technological capability to implement the proposal. It is the primary recommendation of this PhD that the novel control method be tested further with participant studies and that the component hardware be developed further. Therapies targeting novel recovery mechanisms breathe fresh air into rehabilitation and may inspire other new treatments, and future funded work originating from this PhD will see the concept tested with a chronic stroke population, using an ambulating exoskeleton and the Controller.
Book Synopsis Active-assistive Control System with Slacking Behavior Prevention for Upper Limb Rehabilitation Exoskeleton Robot by : 簡子捷
Download or read book Active-assistive Control System with Slacking Behavior Prevention for Upper Limb Rehabilitation Exoskeleton Robot written by 簡子捷 and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Development of Human-inspired Robotic Exoskeleton (HuREx) Designed for Lower-limb Gait Rehabilitation for Stroke Patients by : Kazuto Kora
Download or read book Development of Human-inspired Robotic Exoskeleton (HuREx) Designed for Lower-limb Gait Rehabilitation for Stroke Patients written by Kazuto Kora and published by . This book was released on 2014 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke is one of the leading cause of physical disability in New Zealand and many suffer paralysis to their limbs. Unfortunately, fewer than 50% of survivors regaining their independence after 6 months particularly due to the inability to walk properly. One of the reason for the slow recovery of the gait function is that the current rehabilitation technique used is labour intensive and time consuming for the therapists and difficult to perform it effectively. In order to improve the gait rehabilitation process, robot assisted gait rehabilitation has gained much interest over the past years. There have been many prototypes and commercial products for the robot assisted rehabilitation, but many had limitations. One of which is being bulky and had uncomfortable attachment for the patients. Improper attachment not only create uncomfortable feeling and pain for the patient but also causes human-robot axis misalignment which could lead to an injury with long term use. Another limitation is the lack of mechanical compliance which is the key to improve the safety of the operation and comfort for the patient. In order to address the limitations identified, a new robot orthosis, Human-inspired Robotic Exoskeleton (HuREx) was developed. HuREx consists of a compact exoskeleton parts custom fit for each individual patient manufactured using a rapid prototyping technique. Pneumatic Muscle Actuators (PMA) were used as they exhibit natural compliance and configured antagonistically. The design of the orthosis and the actuation mechanism made the system highly nonlinear. Therefore, an advanced model-based feedforward (FF) controller was designed and implemented to achieve the speed and accuracy of the response required. Many experiments were carried out to observe the performance and verify the proof of concept. The contributions of this research are the development of new robotic exoskeleton device designed to be light weight, comfortable and safe to use for gait rehabilitation for stroke patients, which were lacking in the existing devices. Another contribution is the establishment of new manufacturing technique that allow custom exoskeleton component for each individual patient. Finally the development of advanced model-based FF controller that achieves fast and accurate tracking performance.
Book Synopsis Bio-inspired Design and Non-linear Model Predictive Control of a Self-aligning Gait Rehabilitation Robot by : Yinan Jin
Download or read book Bio-inspired Design and Non-linear Model Predictive Control of a Self-aligning Gait Rehabilitation Robot written by Yinan Jin and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robot-assisted rehabilitation has seen significant development in recent years. With the development of compliant robots that can be safely used in proximity to people, the use of robots to assist rehabilitation has increased rapidly. The need for gait rehabilitation robots arises from the increasing number of people who are affected by conditions that impair their ability to walk. These conditions can include neurological disorders such as strokes, spinal cord injuries, and traumatic brain injuries. In traditional gait rehabilitation, patients receive manual therapy from a team of physical therapists. While manual therapy can be effective, it can also be time-consuming and resource-intensive, and therapists may not be able to provide consistent and precise support to patients. Gait rehabilitation robots, on the other hand, provide a consistent and precise form of therapy that may help patients make faster and more significant progress. Gait rehabilitation robots can also help reduce the physical demands on therapists and improve the efficiency of therapy sessions. This can allow more patients to receive therapy, which can improve access to care and reduce the burden on health care systems. However, most of existing robotic orthoses have not applied appropriate self-aligning mechanism, gravity-balancing mechanism, or compliant actuators. These limitations should be considered in this proposed research. This thesis proposes a novel intrinsically compliant gait rehabilitation robot with multiple actuated degrees-of-freedom (DOFs). The robot design is flexible and can be personalised with the use of telescopic pelvis, thigh, and shank sections. This newly designed rehabilitation robotic orthosis has multiple actuated and passive DOFs. Because of the importance of alignment between the designed rehabilitation robot joints and human anatomical joints, the robot design has a self-aligning mechanism. A novel gear-couple mechanism, toothed cam-couple mechanism and four-bar linkage mechanism are designed and applied to the hip, knee, and ankle joints to align the robot joints with anatomical joints during gait rehabilitation. Simulation-based and motion capture system-based tests are applied to those three mechanisms to evaluate and choose the most effective self-aligning mechanism. The gear-couple mechanism is finally chosen to be applied to the prototype design. A partial gravity-balancing mechanism is also applied to the designed rehabilitation robot. Gravity-balancing can help overcome the inertia of the rehabilitation robot and can further help reduce joint misalignment. The compliance in the robot is intrinsic due to the use of pneumatic muscle actuators (PMAs). The PMAs have been carefully selected to provide the required torques at the hip, knee and ankle joints during gait rehabilitation. Mechanical amplification of the actuation from the PMAs has been achieved by using gear-couples to replace the usual revolute robot joints. However, with the increase in flexibility of the designed prototype and application of PMAs, which are nonlinear actuators, it is challenging to design the robot control system. This challenge was overcome by developing a system dynamic identification model based on the Koopman operator for the design of a nonlinear model predictive controller (NMPC). The new robot design, together with its self-aligning and gravity-balancing mechanisms, is discussed in detail in this thesis. Compliant actuation and its amplification are explained and various algorithms that are designed and implemented on the robot system as robot firmware are explained. A NMPC is designed and developed to control the rehabilitation robot. The experimental setup and evaluation of the robot design, together with the nonlinear model predictive controller, was carried out with healthy users and yielded the intended results. The robotic orthosis along with the NMPC could successfully guide the healthy human subject along the pre-defined trajectory.
Book Synopsis Development of a Lightweight and High Strength Underactuated Lower Limb Robot Exoskeleton for Gait Rehabilitation by : Fahad Hussain
Download or read book Development of a Lightweight and High Strength Underactuated Lower Limb Robot Exoskeleton for Gait Rehabilitation written by Fahad Hussain and published by . This book was released on 2024 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robot-assisted physical rehabilitation and robotics technology for providing support to the elderly population is rapidly evolving. Lower limb robot aided rehabilitation and assistive technology have been a focus for the engineering community over the last three decades as several robotic lower limb exoskeletons have been proposed in the literature as well as some being commercially available. One of the most important aspects of developing exoskeletons is the selection of the appropriate material. Strength to weight ratio is the most important factor to be considered before selection of a manufacturing material. The material selection strongly influences the overall weight and performance of the exoskeleton robot. In addition to material selection the type of mechanism and the actuation strongly effect the overall weight of the lower limb robotic exoskeleton. Most of the lower limb exoskeleton provided in the literature use a parallel mechanism, are properly actuated and either use aluminium or steel as their manufacturing materials. All these factors significantly increase the weight of the lower limb robot exoskeleton and make the device heavy, bulky, and uncomfortable for the wearer. Furthermore, an increase in weight contributes to a decrease of energy efficiency, reduces the energy efficiency of the final product, and increase the running cost of the designed robot devices. This thesis explores the wide-ranging potential of lower limb robot exoskeletons in the context of physical rehabilitation. Implementation and testing of a lightweight and high strength material without effecting the reliability was the main research objective of the present work. In this research, a linkage based under-actuated mechanism was used for the development of a lightweight design. Structural and mechanical load analysis of the mechanism was performed by using an advanced approach of finite element analysis. Three materials, namely structural steel, aluminium, and carbon reinforced fibre were compared as the manufacturing materials of the modelled mechanism. After that, a weight estimation was carried out for all three materials and the material which exhibits the best response under mechanical load analysis was selected. From the weight comparison, the carbon reinforced fibre provided the least weight for the digital twin of a lower limb exoskeleton. After material selection, the next step was the topology optimisation to further decrease the mass of the designed prototype without effecting the mechanical performance. The optimisation was carried out by using a multi-mode single objective genetic algorithm (GA) and a reduction of 30 % in the weight of the designed prototype was obtained. The selected material, which is carbon fibre, is a type of polymer material that is highly anisotropic, meaning it shows different material behaviour in different orientations of applied force. The next stage of the research work was the material characterization of the manufacturing material, which was carried out both analytically and experimentally. For defining the optimal criteria for fiber orientation, Hashin's Failure Criteria is considered, and experimental work is performed to determine the most suitable fibre orientation. The material monotonic tensile properties were experimentally determined by experimental work and used to select a suitable orientation to manufacture a physical prototype model of the lower limb robot exoskeleton. After that the manufacturing process was carried out which is divided into three main steps. The first step was the use of the suitable lightweight and high strength material, which was selected by weight comparison in the design stage. The second step was the use of a single actuator to actuate the whole mechanical system and the final step was the use fabrication method to get a strong and reliable structure. Shaping of the different exoskeleton parts was carried out by CNC milling and parts were assembled to build a robotic prototype. A DC motor was used to actuate the complete prototype, which includes hip, knee, and ankle joints. In the end, a reliability analysis was carried out by using a machine learning based approach. A machine learning framework was developed for time-dependent reliability analysis of the developed robot. A neural network algorithm was designed to estimate the time-dependent reliability of the joint displacement and the positions of the end-effector first. From the above methodology, a lightweight and high strength lower limb robot exoskeleton was just not only conceptualized but a significant work was done to get a physical model starting from the material selection and concluding with the fabrication of a physical prototype. The reliability analysis gives an overview of the mechanism safety as a function of joint displacement. The designed prototype of carbon reinforced fibre was four times lighter in weight as compared to steel and three times lighter than aluminium, which is expected to give the wearer a comfortable wearing experience and improves the overall physical rehabilitation experience for the patients.
Book Synopsis Design and Motion Control of a Lower Limb Robotic Exoskeleton by : Ümit Önen
Download or read book Design and Motion Control of a Lower Limb Robotic Exoskeleton written by Ümit Önen and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter presents the results of research work on design, actuator selection and motion control of a lower extremity exoskeleton developed to provide legged mobility to spinal cord injured (SCI) individuals. The exoskeleton has two degrees of freedom per leg. Hip and knee joints are actuated in the sagittal plane by using DC servomotors. Additional effort supplied by user's arms through crutches is defined as user support rate (USR). Experimentally determined USR values are considered in actuator torque computations for achieving a realistic actuator selection. A custom-embedded system is used to control exoskeleton. Reference joint trajectories are determined by using clinical gait analysis (CGA). Three-loop cascade controllers with current, velocity and position feedback are designed for controlling the joint motions of the exoskeleton. A non-linear ARX model is used to determine controller parameters. Overall performance and an assistive effect of WSE-2 are experimentally investigated by conducting tests with a paraplegic patient with T10 complete injury.
