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Single Leg Gait Tracking of Lower Limb Exoskeleton Based on Adaptive Iterative Learning Control

Bin Ren, Xurong Luo, Jiayu Chen
2019 Applied Sciences  
Therefore, this study proposed an adaptive control mechanism based on the iterative learning model to track the single leg gait for lower limb exoskeleton control.  ...  The lower limb exoskeleton is a wearable humanrobot interactive equipment, which is tied to human legs and moves synchronously with the human gait.  ...  The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results.  ... 
doi:10.3390/app9112251 fatcat:wmk3oy5pbvg6fns4q3sv6xo4wq

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Muhammad Shoaib, Ehsan Asadi, Joono Cheong, Alireza Bab-Hadiashar
2021 IEEE Access  
In this paper, we categorize and review the cable driven rehabilitation robots in three main groups concerning their applications for upper limb, lower limb, and waist rehabilitation.  ...  For each group, target movements are identified, and promising designs of CDRRs are analyzed in terms of types of actuators, controllers and their interactions with human.  ...  The robustness of iterative learning control against external disturbance and uncertainties in CDRRs is studied in [135] .  ... 
doi:10.1109/access.2021.3102107 fatcat:s7vncojpqja2tinelevdw3xtmm

Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton

Antonio J del-Ama, Ángel Gil-Agudo, José L Pons, Juan C Moreno
2014 Journal of NeuroEngineering and Rehabilitation  
Hybrid actuation and control have a considerable potential for walking rehabilitation but there is a need of novel control strategies of hybrid systems that adequately manage the balance between FES and  ...  Robotic and functional electrical stimulation (FES) approaches are used for rehabilitation of walking impairment of spinal cord injured individuals.  ...  The authors thanks to all the participants that volunteered for the experiments, and also the clinical staff from National Hospital for Spinal Cord injury.  ... 
doi:10.1186/1743-0003-11-27 pmid:24594302 pmcid:PMC3995973 fatcat:tkt3prmbq5e6liqw3jr5oebtgm

A REVIEW ON HUMAN-EXOSKELETON COORDINATION TOWARDS LOWER LIMB ROBOTIC EXOSKELETON SYSTEMS

Yue Ma, Xinyu Wu, Jingang Yi, Can Wang, Chunjie Chen
2019 International Journal of Robotics and Automation  
The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention.  ...  In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art.  ...  Acknowledgement The work described in this paper is partially supported by the NSFC-Shenzhen Robotics Research Center Project (U1613219), the Shenzhen Fundamental Research and Discipline Layout project  ... 
doi:10.2316/j.2019.206-0193 fatcat:6qfm7qr2zzaonkkyfxrcs33fry

2021 Index IEEE/ASME Transactions on Mechatronics Vol. 26

2021 IEEE/ASME transactions on mechatronics  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  -that appeared in this periodical during 2021, and items from previous years that were commented upon or corrected in 2021.  ...  ., +, TMECH April 2021 730-740 Artificial limbs Human-in-the-Loop Control of a Wearable Lower Limb Exoskeleton for Stable Dynamic Walking.  ... 
doi:10.1109/tmech.2022.3141226 fatcat:xzamfdzhofblrdegiw7iqkjffq

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

Stefano Dalla Gasperina, Loris Roveda, Alessandra Pedrocchi, Francesco Braghin, Marta Gandolla
2021 Frontiers in Robotics and AI  
As a key element, robot controllers should adapt to patients' status and recovery stage.  ...  The objective of this paper is to provide a multi-disciplinary vision of patient-cooperative control strategies for upper-limb rehabilitation exoskeletons to help researchers bridge the gap between human  ...  In fact, the CNS creates an internal model of the environmental dynamics and, during human motor adaptation, it learns to anticipate the movement according to somatosensory and kinematic errors.  ... 
doi:10.3389/frobt.2021.745018 pmid:34950707 pmcid:PMC8688994 fatcat:dj7j32wgk5e7rgc4hjvi5r2wzi

Proceedings of the first workshop on Peripheral Machine Interfaces: going beyond traditional surface electromyography

Claudio Castellini, Panagiotis Artemiadis, Michael Wininger, Arash Ajoudani, Merkur Alimusaj, Antonio Bicchi, Barbara Caputo, William Craelius, Strahinja Dosen, Kevin Englehart, Dario Farina, Arjan Gijsberts (+8 others)
2014 Frontiers in Neurorobotics  
and the delegation of grasping to a lower-level closed-loop control are also interesting paths ahead.  ...  The system dynamics include not only the mapping function, but also disturbances from electrode placement and shift, limb position, and unique movement patterns, resulting in a robust control of the full  ...  The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with  ... 
doi:10.3389/fnbot.2014.00022 pmid:25177292 pmcid:PMC4133701 fatcat:qnp4coftovgsvco4ksycp7sxvq

Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions

Chenguang Yang, Gowrishankar Ganesh, Sami Haddadin, Sven Parusel, Alin Albu-Schaeffer, Etienne Burdet
2011 IEEE Transactions on robotics  
Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and  ...  This paper presents a novel human-like learning controller to interact with unknown environments.  ...  The human-like adaptivity that is shown by robots in these stable and unstable tasks illustrates the potential of the novel learning controller. II.  ... 
doi:10.1109/tro.2011.2158251 fatcat:7md2jrs5bnhbdhkw6kk7l5bwbm

Robotic Exoskeletons: A Perspective for the Rehabilitation of Arm Coordination in Stroke Patients

Nathanaël Jarrassé, Tommaso Proietti, Vincent Crocher, Johanna Robertson, Anis Sahbani, Guillaume Morel, Agnès Roby-Brami
2014 Frontiers in Human Neuroscience  
ACKNOWLEDGMENTS The authors thank Catherine Bidard, Philippe Garrec, and Yann Perrot (CEA-LIST) for their contribution with the ABLE Exoskeleton and the participants of the European Network on Robotics  ...  Funding: This work was supported by the French National Agency for research, ANR, program PSIROB-ROBO-0003. Tommaso Proietti received a doctoral grant from Region Ile de France.  ...  The aim is to match this virtual model to the real interaction between the robot, the human limb, and the environment. Thus, it is a model-based method of control.  ... 
doi:10.3389/fnhum.2014.00947 pmid:25520638 pmcid:PMC4249450 fatcat:lh35tspcrbctzi3j7r2n5qls4i

2018 Index IEEE/ASME Transactions on Mechatronics Vol. 23

2018 IEEE/ASME transactions on mechatronics  
., +, TMECH Feb. 2018 469-481 Knee A Novel Precision Measuring Parallel Mechanism for the Closed-Loop Control of a Biologically Inspired Lower Limb Exoskeleton.  ...  ., +, TMECH Feb. 2018 68-79 Hip A Novel Precision Measuring Parallel Mechanism for the Closed-Loop Control of a Biologically Inspired Lower Limb Exoskeleton.  ...  1981 -1992 Improved NO and NO2 Concentration Estimation for a Diesel-Engine-Aftertreatment System. Zhang, H., +, TMECH Feb. 2018 190-199  ... 
doi:10.1109/tmech.2019.2893551 fatcat:ds4rb6mpw5bnbbbrdn25n3oh6m

2020 Index IEEE Transactions on Control Systems Technology Vol. 28

2020 IEEE Transactions on Control Systems Technology  
Movement for a Powered Lower Limb Orthosis.  ...  Movement for a Powered Lower Limb Orthosis.  ...  Optimal Detection Schemes for Multiplicative Faults in Uncertain Systems With Application to Rolling Mill Processes. Li, L., +, 2432 -2444  ... 
doi:10.1109/tcst.2020.3047034 fatcat:iin2gzukmbadhbln2qf25c4v6a

Creating the brain and interacting with the brain: an integrated approach to understanding the brain

J. Morimoto, M. Kawato
2015 Journal of the Royal Society Interface  
from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop.  ...  Third, in brain-machine interface research, a brain and a robot are mutually connected within a closed loop.  ...  Gravity compensation of the lower limb model composed of exoskeleton and human lower limbs was activated when the EEG decoding was 'standup.' (a) Stand-up state. (b) Sit-down state.  ... 
doi:10.1098/rsif.2014.1250 pmid:25589568 pmcid:PMC4345490 fatcat:aviuaqaisfdiloir6ahnhrhfem

Personalized Neuroprosthetics

D. Borton, S. Micera, J. d. R. Millan, G. Courtine
2013 Science Translational Medicine  
help the brain help itself" in nervous system disorders. accurate diagnosis, integrated development of neurotechnology, and patient-specific treatment design, ultimately "to In this Review, Courtine and  ...  colleagues describe "personalized neuroprosthetics" as the synergy between Helping the Brain Help Itself  ...  Adaptive control algorithms are the main tools used to integrate softness in current rehabilitation robots.  ... 
doi:10.1126/scitranslmed.3005968 pmid:24197737 fatcat:sxr2hkwtqzanljosg6e4x7qk3q

2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25

2020 IEEE/ASME transactions on mechatronics  
; TMECH Aug. 2020 1783-1793 Iordachita, I., see He, C., TMECH Dec. 2020 2846-2857 Iqbal, A., Gao, Y., and Gu, Y., Provably Stabilizing Controllers for Quadrupedal Robot Locomotion on Dynamic Rigid Platforms  ...  I Ichikawa, A., see Kim, E., TMECH Feb. 2020 477-486 Ihn, Y.S., see Jang, N., 1933-1943 In, J.B., see Lee, D., TMECH Feb. 2020 360-370 Indri, M., and Trapani, S., Framework for Static and Dynamic  ...  ., +, TMECH April 2020 705-715 Using Potential Field Function With a Velocity Field Controller to Learn and Reproduce the Therapist's Assistance in Robot-Assisted Rehabilitation.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

Iterative Learning Control in Health Care: Electrical Stimulation and Robotic-Assisted Upper-Limb Stroke Rehabilitation

2012 IEEE Control Systems  
The current prognosis for upper-limb recovery following a stroke is poor, with a review reporting that complete recovery occurs in less than 15% of patients with initial paralysis [2] .  ...  A stroke is usually caused when a blood clot blocks a vessel in the brain and acts like a dam, stopping the blood reaching the regions downstream.  ...  approaches focused on the lower limb.  ... 
doi:10.1109/mcs.2011.2173261 fatcat:33azwqj7wvdgrip7zoxzebq2ei
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