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Review on Control Strategies for Lower Limb Rehabilitation Exoskeletons
2021
IEEE Access
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Research on lower limb exoskeleton (LLE) for rehabilitation have developed rapidly to meet the need of the population with neurologic injuries. ...
As a contribution, this paper offers an overview on the state-of-the-art control strategies for rehabilitation LLEs by classifying them into eight categories, each of which is presented with a technical ...
Murray et at. has proposed a control strategy for patients with lower limb hemiparesis [66] . ...
doi:10.1109/access.2021.3110595
fatcat:65yjueltjnf6zfgyl5ovls56da
Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies
2021
IEEE Access
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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. ...
A large part of this paper is dedicated to comparing the control strategies and techniques of CDRRs under five main categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) and ...
Configuration space refers to the set of all possible configurations of CDRRs' joint. The stability of a control strategy means it's ability to produce bounded outputs with bounded inputs.
A. ...
doi:10.1109/access.2021.3102107
fatcat:s7vncojpqja2tinelevdw3xtmm
Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons
2021
Frontiers in Robotics and AI
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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 ...
As a key element, robot controllers should adapt to patients' status and recovery stage. ...
Control Strategies for Upper-Limb Rehabilitation Exoskeletons ...
doi:10.3389/frobt.2021.745018
pmid:34950707
pmcid:PMC8688994
fatcat:dj7j32wgk5e7rgc4hjvi5r2wzi
Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot
2021
IEEE Access
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variable admittance (FSMVA) controller based on safety evaluation and supervision is proposed for the cable-driven lower limb rehabilitation robot (CDLR) in this paper. ...
The passive training with fixed trajectory is more suitable for the initial rehabilitation training of patients with no muscle strength in the affected limb. ...
ACKNOWLEDGMENT The authors would like to thank the editors and reviewers for their instructive comments that helped to improve the quality ...
doi:10.1109/access.2021.3083810
fatcat:yx4fsz7rarf3xfmwif4pnyseee
Preliminary Assessment of a Postural Synergy-Based Exoskeleton for Post-Stroke Upper Limb Rehabilitation
2021
IEEE transactions on neural systems and rehabilitation engineering
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This paper introduces a newly developed exoskeleton (Armule) for upper limb rehabilitation with a postural synergy design concept, which can reproduce activities of daily living (ADL) motion with the characteristics ...
The semitransparent active control strategy with the interactive force guidance and visual feedback ensured the active participation of users. ...
The interaction forces were converted to the command speed in the joint space with an admittance control method. ...
doi:10.1109/tnsre.2021.3107376
pmid:34428146
fatcat:fnrmnmf72zbt3gqiidguy7q3ay
Review of Control Methods for Upper Limb Telerehabilitation with Robotic Exoskeletons
2020
IEEE Access
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To obtain a good overview of control methods used for upper limb rehabilitation robotic exoskeletons, a search for survey and review papers was performed with the search words: ((review OR survey) AND ...
Conversely, Fig.5 shows Admittance control where the admittance controller has the external (measured) torque as the input and produces a desired angular joint trajectory to follow as the output (admittance ...
doi:10.1109/access.2020.3036596
fatcat:bliks4oenrh75ol4drx2lphqqm
Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles
2017
Frontiers in Neurorobotics
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Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. ...
A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. ...
Germany, with copyright permission from IEEE. ...
doi:10.3389/fnbot.2017.00064
pmid:29255412
pmcid:PMC5722812
fatcat:s2kcbwc4uzhehf4bvhducuwwai
Measurement, Evaluation, and Control of Active Intelligent Gait Training Systems—Analysis of the Current State of the Art
2022
Electronics
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Active intelligent rehabilitation and assistance systems for lower limbs integrates mechanical design, sensing technology, intelligent control, and robotics technology, and is one of the effective ways ...
Lastly, the personalized gait training strategy for collaborative control of human–machine systems needs to be implemented in the clinical applications. ...
model combined with clinical knowledge base and lower limb movement data, and the personalized gait training strategy for collaborative control of human-machine systems. ...
doi:10.3390/electronics11101633
fatcat:aogyw3v3djdfdnrrtzd63exary
A REVIEW ON HUMAN-EXOSKELETON COORDINATION TOWARDS LOWER LIMB ROBOTIC EXOSKELETON SYSTEMS
2019
International Journal of Robotics and Automation
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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. ...
A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. ...
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
State of the art in parallel ankle rehabilitation robot: a systematic review
2021
Journal of NeuroEngineering and Rehabilitation
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For the control strategy, compliance control with variable parameters should be further studied, with sEMG signal included to improve the real-time performance. ...
Background The ankle joint complex (AJC) is of fundamental importance for balance, support, and propulsion. ...
Acknowledgements The authors would like to thank the National Research Center for Rehabilitation Technical Aids for its meaningful guidance on the rehabilitation training methods of AJC, which helped structure ...
doi:10.1186/s12984-021-00845-z
pmid:33743757
pmcid:PMC7981854
fatcat:jdhfog3wx5gbvpesaoid4ex46i
Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies
2016
IEEE Reviews in Biomedical Engineering
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In [83] , the authors developed a model-free PID type admittance control in task space to generate desired trajectories for a lower-level PID position control in task space too. ...
In [84] the authors compared task space with joint space admittance control, showing that task space control spent about 11% less of interaction energy for a peg-in-hole task. ...
Her first research interest was in the field of clinical neurophysiology after which she focused on upper limb motor control, disability, and recovery in cerebral and spinal injured patients. ...
doi:10.1109/rbme.2016.2552201
pmid:27071194
fatcat:jgtu6v7vljhrneobcypffyadzu
PID admittance control for an upper limb exoskeleton
2011
Proceedings of the 2011 American Control Conference
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In this paper, we put both the upper-level PID admittance control and the lower-level linear PID control in task space. ...
It is impossible to design a model-based impedance/admittance control when the model of the exoskeleton is unavailable. ...
Besides the original control task for the end-effector, the joint space of the 7-DOF exoskeleton are also subjected to some constraints, because the exoskeleton is fixed with a human arm. ...
doi:10.1109/acc.2011.5991147
fatcat:anvithqaindmtl2khfenpnyhse
Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers
2014
Robotics
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It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying ...
the current and on-going research in the lower-limb robotic rehabilitation field. ...
Acknowledgments This work was supported by KAKENHI: Grant-in-Aid for Scientific Research (B) 21300202. ...
doi:10.3390/robotics3020120
fatcat:ckfrfyvggvao3c22hmpt3tftgy
Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses
2017
IEEE Transactions on Human-Machine Systems
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Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is the most common type of stroke-induced disability. ...
Different types of actuation, degrees of freedom (DOFs), and control strategies have been utilized for the development of these shoulder rehabilitation orthoses. ...
research is supported by the seed funding jointly provided by Faculty of Engineering and Information Sciences, and School of Mechanical, Materials and Mechatronic Engineering, and the PhD scholarship for ...
doi:10.1109/thms.2017.2700634
fatcat:bbkht3p5wfgy3cmwh2pxan45wy
Robotic devices for paediatric rehabilitation: a review of design features
2021
BioMedical Engineering OnLine
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The majority of the current devices were used for lower limb rehabilitation. Neurological disorders, in particular cerebral palsy, were the most common conditions for which devices were designed. ...
Usually, the devices present more than one training strategy being the assistive strategy the most used. The admittance/impedance method is the most popular to interface the robot with the children. ...
., Control design for a lower-limb paediatric therapy device using linear motor technology, Page 121, Copyright (2017
Fig. 5 5 Picture of lower limb exoskeletons rehabilitation robots: a Lokomat [90] ...
doi:10.1186/s12938-021-00920-5
pmid:34488777
pmcid:PMC8420060
fatcat:5teryo5hprerhhnie22g7oim6i
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