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The added value of an actuated ankle-foot orthosis to restore normal gait function in patients with spinal cord injury: A systematic review

S Duerinck, E Swinnen, P Beyl, F Hagman, I Jonkers, P Vaes, P Roy
2012 Journal of Rehabilitation Medicine  
Results: the actuated ankle-foot orthoses currently available are characterized by several combinations of an actuator and a control mechanism.  ...  Methods: A search was conducted in MeDliNe, web of Knowledge, National Academic Research and collaborations information System, and Physiotherapy evidence Data base (1985-2011), using, "ankle", "foot",  ...  An on/ off control system manages the torque production of the actuator based on the signal sent by a footswitch, a force sensor or a push button. when the analogue signal coming from a footswitch or a  ... 
doi:10.2340/16501977-0958 pmid:22453771 fatcat:vpcdtigcdfaq5ixt37iyiv2goq

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  
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.  ...  One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects  ...  [30] have designed a rotary series elastic actuator (RSEA)-driven knee orthosis system.  ... 
doi:10.2316/j.2019.206-0193 fatcat:6qfm7qr2zzaonkkyfxrcs33fry

EMG based approach for wearer-centered control of a knee joint actuated orthosis

Walid Hassani, Samer Mohammed, Hala Rifai, Yacine Amirat
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The intention of the wearer is estimated by using a realistic musculoskeletal model of the muscles actuating the knee joint.  ...  The exoskeleton interacts with the wearer; the shank-foot orthosis system behaves as a second order dynamic system with gravity and elastic torque balance.  ...  The control schema is based on the assisting torque estimation by using a proportional controller as a function of the EMG activation level.  ... 
doi:10.1109/iros.2013.6696471 dblp:conf/iros/HassaniMRA13 fatcat:ibzvd6zlerdkxjje6oenrexrlq

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Muhammad Shoaib, Ehsan Asadi, Joono Cheong, Alireza Bab-Hadiashar
2021 IEEE Access  
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  ...  Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission.  ...  Fig. 4 (a) shows the block diagram of a EMG-based impedance control strategy.  ... 
doi:10.1109/access.2021.3102107 fatcat:s7vncojpqja2tinelevdw3xtmm

Design and Simulation of Under Limb Orthosis for Rehabilitation of Paraplegics

2020 International journal of recent technology and engineering  
A lower limb orthosis is designed using solidworks and the design imported into MATLAB using simmechanics is simulated using simscape multibody and the resulting torques for each joint namely hip, ankle  ...  and knee joints are obtained.  ...  EMG based control , wireles s LAN control , and virtual torque control .  ... 
doi:10.35940/ijrte.f9928.059120 fatcat:5kffnasg2baullxueqmmn5b26u

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

Mohd Dzahir, Shin-ichiroh Yamamoto
2014 Robotics  
In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic  ...  the current and on-going research in the lower-limb robotic rehabilitation field.  ...  It implemented impedance control (as opposed to admittance control), which is based on a combination of position sensing with force actuation to operate the lower-limb leg orthosis.  ... 
doi:10.3390/robotics3020120 fatcat:ckfrfyvggvao3c22hmpt3tftgy

Neural Data-Driven Musculoskeletal Modeling for Personalized Neurorehabilitation Technologies

Massimo Sartori, David G. Llyod, Dario Farina
2016 IEEE Transactions on Biomedical Engineering  
Methods: We provide a design overview of musculoskeletal modeling formulations driven by recordings of neuromuscular activity with a critical comparison to alternative model-free approaches in the context  ...  We present advanced electromyography-based techniques for interfacing with the human nervous system and model-based techniques for translating the extracted neural information into estimates of motor function  ...  A simplified modeling formulation was used in [140] to predict in real time the user's knee joint stiffness as a function of EMGs and modulate the impedance of a compliant knee joint orthosis accordingly  ... 
doi:10.1109/tbme.2016.2538296 pmid:27046865 fatcat:6glrzusfj5dhponqcfwqg7ukme

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Quy-Thinh Dao, Shin-ichiroh Yamamoto
2018 Applied Sciences  
The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose.  ...  The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators.  ...  Then, a new compliance control method is proposed based on the estimation of a new defined human active torque.  ... 
doi:10.3390/app8040499 fatcat:mzlyhobmarch3jnd3mwiaxedz4

Analysis of the Human Interaction with a Wearable Lower-Limb Exoskeleton

Juan C. Moreno, Fernando Brunetti, Enrique Navarro, Arturo Forner-Cordero, José L. Pons
2009 Applied Bionics and Biomechanics  
The lower-limb exoskeleton function was to compensate for muscle weakness around the knee joint.  ...  It is shown that the cognitive interaction is bidirectional; on the one hand, the robot gathered information from the sensors in order to detect human actions, such as the gait phases, but the subjects  ...  The work presented in this paper has been partially founded through grants IST-2001-37751 (GAIT, intelligent knee and ankle orthosis for biomechanical evaluation and functional compensation of joint disorders  ... 
doi:10.1155/2009/712530 fatcat:skvuyhynjraixc5obnqbnah3ii

Analysis of the human interaction with a wearable lower-limb exoskeleton

Juan C. Moreno, Fernando Brunetti, Enrique Navarro, Arturo Forner-Cordero, José L. Pons
2009 Applied Bionics and Biomechanics  
Also, endurance (mechanical) tests provided criteria to perform experiments with one post-polio patient.  ...  This paper presents a method to analyse the interaction between the human user and a unilateral, wearable lower-limb exoskeleton.  ...  The work presented in this paper has been partially founded through grants IST-2001-37751 (GAIT, intelligent knee and ankle orthosis for biomechanical evaluation and functional compensation of joint disorders  ... 
doi:10.1080/11762320902823324 fatcat:dq7r7hl2mbg6flew5wvlkl37ye

Adaptive Trajectory Control to Achieve Smooth Interaction Force in Robotic Rehabilitation Device

Tanvir Anwar, Adel Al Juamily
2014 Procedia Computer Science  
In achieving the objective, impedance, driver torque and angular velocity have been modulated in a way such that there is a reduction of interaction force.  ...  This paper proposes a fuzzy rule based controller to be used to control the interaction force at the patient exoskeleton interaction point.  ...  Because there are patient with many different impairment, it is very difficult to model each patient and design a model based controller for each one of them.  ... 
doi:10.1016/j.procs.2014.11.047 fatcat:ckwywnap7naulckeheapzhki3e

Locomotor Training in Subjects with Sensori-Motor Deficits: An Overview of the Robotic Gait Orthosis Lokomat

R. Riener, L. Lünenburger, I. Maier, G. Colombo, V. Dietz
2010 Journal of Healthcare Engineering  
Rehabilitation robots allow for a longer and more intensive training than that achieved by conventional therapies.  ...  This article provides an overview of the technical features and reports the clinical data available for one of these systems known as "Lokomat".  ...  In the Lokomat, hip and knee joints are actuated by customdesigned drives with a precision ball screw. The nut on the ball screw is driven by a toothed belt, which is in turn driven by a DC motor.  ... 
doi:10.1260/2040-2295.1.2.197 fatcat:dcppdhxq7vdahhv76ojn2aswri

Ankle Joint Torque Estimation Using an EMG-Driven Neuromusculoskeletal Model and an Artificial Neural Network Model

Longbin Zhang, Zhijun Li, Yingbai Hu, Christian Smith, Elena M. Gutierrez Farewik, Ruoli Wang
2020 IEEE Transactions on Automation Science and Engineering  
In this article, ankle joint torques were estimated using electromyography (EMG)-driven neuromusculoskeletal (NMS) model and an artificial neural network (ANN) model in seven movement tasks, including  ...  We found that the NMS model could overall better predict ankle joint torques from EMG and angle data than the ANN model with some exceptions; the ANN predicted ankle joint torques with better agreement  ...  [9] proposed a powered lower extremity orthosis, which could provide assistive torque in the sagittal plane at hip and knee joints in persons with SCI in gait, based on joint angle trajectories from  ... 
doi:10.1109/tase.2020.3033664 fatcat:cqcudja34rhwxa3nqvzvwup6fy

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Francisco Anaya, Pavithra Thangavel, Haoyong Yu
2018 International Journal of Intelligent Robotics and Applications  
This work reports a comprehensive review on the hybrid FES-robot technologies over the last decades, focusing on different mechanical structures, actuator designs, sensing technologies, and control approaches  ...  The hybrid robotic structures are classified into two categories: (i) orthotic-based hybrid systems, where (a) FES is used to stimulate the muscles and produce joint torque while the robotic system acts  ...  The exoskeleton consists of a knee orthosis driven by a DC-motor in combination with a gear box to exert torque on the patient's knee.  ... 
doi:10.1007/s41315-017-0042-6 dblp:journals/ijira/ReyesTY18 fatcat:qrxzjz6ngzfjvjjcztasaqqmja

Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model

J. Markowitz, P. Krishnaswamy, M. F. Eilenberg, K. Endo, C. Barnhart, H. Herr
2011 Philosophical Transactions of the Royal Society of London. Biological Sciences  
Here, we use a data-driven muscle -tendon model that produces estimates of the activation, force, length and velocity of the major muscles spanning the ankle to derive local feedback loops that may be  ...  The resulting neuromuscular model was applied to control a powered ankle -foot prosthesis and tested by an amputee walking at three speeds.  ...  With this in mind, we use the observed trends in the estimated muscle variables to motivate a feedback-based control model and evaluate its performance.  ... 
doi:10.1098/rstb.2010.0347 pmid:21502131 pmcid:PMC3130448 fatcat:thv4mxzp2bhvrohnuw7h6hvpoy
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