Proposal of Novel Model for a 2 DOF Exoskeleton for Lower-Limb Rehabilitation
Cristian Velandia,D. Tibaduiza,Maribel Anaya Vejar +2 more
- Vol. 6, Iss: 3, pp 20
TLDR
A dynamic model for two degrees of freedom (2 DOF) leg exoskeleton acting over the knee and ankle to treat people with partial disability in lower limbs is proposed.Abstract:
Nowadays, engineering is working side by side with medical sciences to design and create devices which could help to improve medical processes. Physiotherapy is one of the areas of medicine in which engineering is working. There, several devices aimed to enhance and assist therapies are being studied and developed. Mechanics and electronics engineering together with physiotherapy are developing exoskeletons, which are electromechanical devices attached to limbs which could help the user to move or correct the movement of the given limbs, providing automatic therapies with flexible and configurable programs to improve the autonomy and fit the needs of each patient. Exoskeletons can enhance the effectiveness of physiotherapy and reduce patient rehabilitation time. As a contribution, this paper proposes a dynamic model for two degrees of freedom (2 DOF) leg exoskeleton acting over the knee and ankle to treat people with partial disability in lower limbs. This model has the advantage that it can be adapted for any person using the variables of mass and height, converting it into a flexible alternative for calculating the exoskeleton dynamics very quickly and adapting them easily for a child’s or young adult’s body. In addition, this paper includes the linearization of the model and an analysis of its respective observability and controllability, as preliminary study for control strategies applications.read more
Citations
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Journal ArticleDOI
Reduced Adaptive Fuzzy Decoupling Control for Lower Limb Exoskeleton
TL;DR: Compared to traditional approaches, the proposed fuzzy control approach can reduce possible chattering phenomena and achieve better control performance and it can be concluded that the developed approach is effective for the control of a lower limb exoskeleton system.
Proceedings ArticleDOI
Modeling and co-simulation of actuator control for lower limb exoskeleton
TL;DR: A virtual design, modeling and simulation of control strategy for dynamic modeling of LLE by using PID control are presented and it is shown that the model can be used in simulation to prove the controller performance for actuator on the low-level controller.
Journal ArticleDOI
Medical exoskeleton “Remotion” with an intelligent control system: Modeling, implementation, and testing
Ildar Kagirov,Alexander Kapustin,Irina S. Kipyatkova,Konstantin Klyuzhev,Alexander Kudryavcev,Igor Kudryavcev,Yury Loskutov,Dmitry Ryumin,Alexey Karpov +8 more
TL;DR: The main parts of the intelligent control system of the lower limb medical exoskeleton “Remotion” are presented, including drives control system, a bimodal user interface and walking pattern control system.
Journal ArticleDOI
A robust adaptive-fuzzy-proportional-derivative controller for a rehabilitation lower limb exoskeleton
Nor Khasimah Aliman,Rizauddin Ramli,Sallehuddin Mohamed Haris,Mohammad Soleimani Amiri,Mien Van +4 more
TL;DR: In this article , a particle swarm optimization based initialization of model reference adaptive for fuzzy logic proportional derivative controller (Adaptive-FLC-PD), used in RLLE for passive mode rehabilitation exercise, is presented.
Proceedings ArticleDOI
Mechatronic Exoskeletons for Lower-Limb Rehabilitation: An Innovative Review
Deyby Huamanchahua,Yerson Taza-Aquino,Jhon Figueroa-Bados,Jason Alanya-Villanueva,Adriana Vargas-Martínez,Ricardo A. Ramirez-Mendoza +5 more
TL;DR: In this article, a systematic review of the trends in the application of components that are part of the development of exoskeletons applied to the rehabilitation of lower-limbs is presented.
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