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Adaptive Gait Planning with Dynamic Movement Primitives for Walking Assistance Lower Exoskeleton in Uphill Slopes

Rui Huang, Qian Wu, Jing Qiu, Hong Cheng, Qiming Chen, Zhinan Peng
2020 Sensors and materials  
Keywords: dynamic movement primitive, adaptive gait planning, lower limb exoskeleton, reinforcement learning The lower exoskeleton system has attracted considerable interest in walking assistance of paraplegic  ...  A critical issue in the walking assistance lower exoskeleton is how to generate gait motions for paraplegic patients.  ...  In walking assistance scenarios, lower limb exoskeletons are built for patients whose lower limbs are disabled, such as paraplegic patients.  ... 
doi:10.18494/sam.2020.2550 fatcat:4eswf6kievawplium5avdibcr4

Guest Editorial Special Issue on Artificial Intelligence in Automation for Healthcare Applications

Mingming Zhang, Yong Hu, Chandramouli Krishnan
2021 IEEE Transactions on Automation Science and Engineering  
His research interests include medical and rehabilitation robotics, physical human-robot interaction, intelligent control, and bio-signal-based pattern recognition. He also holds over 30 patents. Dr.  ...  Such a tool is powerful because it allows us to reap both the benefits of automation-increased speed and efficiency, and ability to scale-with the insights and process power of AI.  ...  The article "Online gait planning of lower-limb exoskeleton robot for paraplegic rehabilitation considering weight transfer process" by Ma et al. proposed an online gait planning method through the integration  ... 
doi:10.1109/tase.2021.3064011 fatcat:pnzrr6inarbshol5mab7nlmc6m

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.  ...  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

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

Ibrahim Tijjani, Shivesh Kumar, Melya Boukheddimi
2022 Applied Sciences  
This paper presents a survey on the design and control of lower extremity exoskeletons for bipedal walking.  ...  The lower extremity exoskeleton device may support specific human joints such as hip, knee, and ankle, or provide support to carry and balance the weight of the full upper body.  ...  ATALANTE is a lower limb exoskeleton that allows stable walking for paraplegic people without any additional stabilization tools, such as crutches.  ... 
doi:10.3390/app12052395 fatcat:skogwlcvijerpeuagfku4dam5q

A Review on the Rehabilitation Exoskeletons for the Lower Limbs of the Elderly and the Disabled

Tao Wang, Bin Zhang, Chenhao Liu, Tao Liu, Yi Han, Shuoyu Wang, João P. Ferreira, Wei Dong, Xiufeng Zhang
2022 Electronics  
Research on the lower limb exoskeleton for rehabilitation have developed rapidly to meet the need of the aging population.  ...  We discussed the complexity and coupling of the man–machine integration system, and we hope to provide a guideline when designing a rehabilitation exoskeleton system for the lower limbs of elderly and  ...  Acknowledgments: We are grateful to Ning Zhang (Key Laboratory of Rehabilitation Technical Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical  ... 
doi:10.3390/electronics11030388 fatcat:26vl3hns2jeqzmfxenawyezjci

2021 Index IEEE Transactions on Automation Science and Engineering Vol. 18

2021 IEEE Transactions on Automation Science and Engineering  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  Khodaban-Online Gait Planning of Lower-Limb Exoskeleton Robot for Paraplegic Rehabilitation Considering Weight Transfer Process.  ... 
doi:10.1109/tase.2021.3120615 fatcat:ybfn4kfdvjfipbty7z3mocjjci

Systematic Review of Intelligent Algorithms in Gait Analysis and Prediction for Lower Limb Robotic Systems

Rania Kolaghassi, Mohamad Kenan Al-Hares, Konstantinos Sirlantzis
2021 IEEE Access  
the analysis of gait for the control or the potential control of active lower limb exoskeletons and orthoses.  ...  DISSCUSION AND CONCLUSION This systematic literature review presented an overview of intelligent algorithms used to obtain parameters of gait for controlling wearable lower limb robotics, such as exoskeletons  ... 
doi:10.1109/access.2021.3104464 fatcat:bwnhkab6yjajtkvp3srzejpxru

Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure

Wei Yang, Jiyu Zhang, Sheng Zhang, Canjun Yang
2020 Sensors  
With the help of wearable robotics, the lower limb exoskeleton becomes a promising solution for spinal cord injury (SCI) patients to recover lower body locomotion ability.  ...  This gait planning method enables the patient to adaptively interact with the exoskeleton gait. The online gait planning walking tests with five healthy volunteers proved the method's feasibility.  ...  Acknowledgments: We appreciate Tian Wang and Qingyu Zhao for helping design of the experiments.  ... 
doi:10.3390/s20247216 pmid:33339443 fatcat:or6zi5sfprahpajykvvijkw66e

Assistive locomotion strategies for active lower limb devices

Joana Figueiredo, Juan C. Moreno, Cristina P. Santos
2017 2017 IEEE 5th Portuguese Meeting on Bioengineering (ENBENG)  
Further work will consist on the application of these locomotion strategies in real-time environment of gait rehabilitation.  ...  This knowledge will allow determining in real-time the biomechanical parameters of assisted walking, and consequently to assess the progress of rehabilitation process by means of WR.  ...  Regarding to rehabilitation scope, the multi-joint exoskeletons have been developed mainly to provide extra locomotion energy for healthy young and elderly people, and also to aid paraplegic or lower-limb  ... 
doi:10.1109/enbeng.2017.7889473 fatcat:5kuhaa54mrd6lhjdw5oanxep3a

Brain–machine interfaces for controlling lower-limb powered robotic systems

Yongtian He, David Eguren, José M Azorín, Robert G Grossman, Trieu Phat Luu, Jose L Contreras-Vidal
2018 Journal of Neural Engineering  
Acknowledgments This work was partially supported by TIRR foundation: Mission Connect and Cullen Foundation to JCV, and Fulbright/ Spanish Ministry of Education Visiting Scholar Academic Year 2016/2017  ...  Recently, EEG-based BMI control of powered lower-limb robotics has been proposed for the restoration and rehabilitation of gait .  ...  The inclusion criteria by which the studies were included are as follow: • Lower-limb powered exoskeleton or orthosis A variety of design forms exist within lower-limb, powered robotic systems.  ... 
doi:10.1088/1741-2552/aaa8c0 pmid:29345632 fatcat:lcltqfuxjje7tfkf7prfzgwu44

Assessment of Plastic Changes Following Bio-Robotic Rehabilitation of Spinal Cord Injured Individuals – A Protocol Proposal [chapter]

Kasper K. Leerskov, Lotte N. S. Andreasen Struijk, Erika G. Spaich
2018 Biosystems and Biorobotics  
Wearable robotic solutions for factories of the future Berkay Guncan and Ramazan Unal ANT-M: Design of Passive Lower-limb Exoskeleton for Weight-bearing Assistance in Industry WeR2.  ...  Wearable sensors for robotic exoskeletons WeR1. Wearable sensors for robotic exoskeletons WeR10. Smart human-machine systems for lower-limb assistance and rehabilitation after paralysis WeR12.  ... 
doi:10.1007/978-3-030-01845-0_174 fatcat:nmjw5zuz25ax3dvmtd5bvwesbq

Body Representation in Patients with Severe Spinal Cord Injury: A Pilot Study on the Promising Role of Powered Exoskeleton for Gait Training

Maria Grazia Maggio, Antonino Naro, Rosaria De Luca, Desiree Latella, Tina Balletta, Lory Caccamo, Giovanni Pioggia, Daniele Bruschetta, Rocco Salvatore Calabrò
2022 Journal of Personalized Medicine  
an indicator of body suffering; the Positive Symptom Distress Index (MBUT-PSDI) that expresses an individual's psychological distress; and the Lower Limb MBUT (MBUT-LL), which indicates the subject's  ...  The purpose of our study is to evaluate the effects of robotic training with the Ekso-GT on body representation (BR) and on the quality of life in patients with SCI.  ...  Ekso Training Ekso-GT™ (Ekso™ Bionics, Richmond, CA, USA) is an exoskeleton for the lower limbs, equipped with electric motors to power the movement of the hip and knee joints.  ... 
doi:10.3390/jpm12040619 pmid:35455735 pmcid:PMC9030625 fatcat:lk3l2pxb3nbzzhluzobk5n5xeq

EEG-Based BCI Control Schemes for Lower-Limb Assistive-Robots

Madiha Tariq, Pavel M. Trivailo, Milan Simic
2018 Frontiers in Human Neuroscience  
Patients could benefit from its advancements such as wearable lower-limb (LL) exoskeletons, orthosis, prosthesis, wheelchairs, and assistive-robot devices.  ...  This review identifies the potentials of electroencephalography (EEG) based BCI applications for locomotion and mobility rehabilitation.  ...  ACKNOWLEDGMENTS Authors acknowledge the financial support received for this research provided by RMIT University Ph.D. International Scholarship (RPIS).  ... 
doi:10.3389/fnhum.2018.00312 pmid:30127730 pmcid:PMC6088276 fatcat:us3lwc23uvh47javazpf4ynm3y

Concept Design and Dynamic Modelling of a Fibre-Based Continuum Robot for Early Cancer Detection Using DT-TMM [chapter]

Mathias Bærenholdt, Lidai Wang, Xuping Zhang
2018 Mechanisms and Machine Science  
The aging of population and shortage of resources is increasing the demand of novel robotic solutions and devices, as for example in assistance in medical treatments and rehabilitation.  ...  The content of MESROB 2018 book covers a wide range of aspects and topics such as assistive devices, exoskeletons, surgical robotics, locomotion systems, human-robot interactions, performance evaluations  ...  stay at the Laboratory of Robotics and Mechatronics (LARM) in the University of Cassino and South Latium, Italy during 2017-2018.  ... 
doi:10.1007/978-3-030-00329-6_21 fatcat:aln3r456enc3xoac4za6mz7x5i

Review of control strategies for lower-limb exoskeletons to assist gait

Romain Baud, Ali Reza Manzoori, Auke Ijspeert, Mohamed Bouri
2021 Journal of NeuroEngineering and Rehabilitation  
Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods.  ...  Methods In addition to covering the recent publications on the control of lower-limb exoskeletons for gait assistance, an effort has been made to review the controllers independently of the hardware and  ...  Introduction Powered lower-limb orthotic devices, also called powered exoskeletons, are often considered as tools in rehabilitation and the assistance of the human gait.  ... 
doi:10.1186/s12984-021-00906-3 pmid:34315499 pmcid:PMC8314580 fatcat:42iuhhmgs5evhdpxgagftfln3u
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