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A hybrid active force control of a lower limb exoskeleton for gait rehabilitation

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Published/Copyright: August 15, 2017
Biomedical Engineering / Biomedizinische Technik
From the journal Biomedical Engineering / Biomedizinische Technik Volume 63 Issue 4

Abstract

Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton.

Keywords: particle swarm optimisation; rehabilitation; robust; trajectory tracking control

  1. Author Statement

  2. Research funding: Authors state no funding involved.

  3. Conflict of interest: Authors state no conflict of interest.

  4. Informed consent: Informed consent is not applicable.

  5. Ethical approval:The conducted research is not related to either human or animals use.

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Received: 2017-02-20
Accepted: 2017-07-03
Published Online: 2017-08-15
Published in Print: 2018-07-26

©2018 Walter de Gruyter GmbH, Berlin/Boston

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  10. Assessing multiple muscle activation during squat movements with different loading conditions – an EMG study
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  18. Quantifying the dynamics of electroencephalographic (EEG) signals to distinguish alcoholic and non-alcoholic subjects using an MSE based K-d tree algorithm
  19. A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
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https://doi.org/10.1515/bmt-2016-0039
Keywords for this article
particle swarm optimisation; rehabilitation; robust; trajectory tracking control

Articles in the same Issue

  1. Frontmatter
  2. Research articles
  3. A new in vitro spine test rig to track multiple vertebral motions under physiological conditions
  4. In-service characterization of a polymer wick-based quasi-dry electrode for rapid pasteless electroencephalography
  5. Spike detection using a multiresolution entropy based method
  6. Obstacles in using a computer screen for steady-state visually evoked potential stimulation
  7. Classification of pulmonary pathology from breath sounds using the wavelet packet transform and an extreme learning machine
  8. Filtering of ECG signals distorted by magnetic field gradients during MRI using non-linear filters and higher-order statistics
  9. Failure analysis of eleven Gates Glidden drills that fractured intraorally during post space preparation. A retrieval analysis study
  10. Assessing multiple muscle activation during squat movements with different loading conditions – an EMG study
  11. In-vivo monitoring of infection via implantable microsensors: a pilot study
  12. Analysis of structural brain MRI and multi-parameter classification for Alzheimer’s disease
  13. False spectra formation in the differential two-channel scheme of the laser Doppler flowmeter
  14. A priori knowledge integration for the detection of cerebral aneurysm
  15. Is the location of the signal intensity weighted centroid a reliable measurement of fluid displacement within the disc?
  16. Image-based 3D surface approximation of the bladder using structure-from-motion for enhanced cystoscopy based on phantom data
  17. Fused multivariate empirical mode decomposition (MEMD) and inverse solution method for EEG source localization
  18. Quantifying the dynamics of electroencephalographic (EEG) signals to distinguish alcoholic and non-alcoholic subjects using an MSE based K-d tree algorithm
  19. A hybrid active force control of a lower limb exoskeleton for gait rehabilitation
  20. Short communication
  21. Can somatosensory electrical stimulation relieve spasticity in post-stroke patients? A TMS pilot study
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