Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training | Zendy

Pieter Beyl | Zendy; Michaël Van Damme | Zendy; Ronald Van Ham | Zendy; Bram Vanderborght | Zendy; Dirk Lefeber | Zendy

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Design and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training

Author(s) -

Pieter Beyl,

Michaël Van Damme,

Ronald Van Ham,

Bram Vanderborght,

Dirk Lefeber

Publication year - 2009

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1155/2009/580734

Subject(s) - exoskeleton , robot , gait , pneumatic artificial muscles , simulation , gait training , engineering , controller (irrigation) , powered exoskeleton , pneumatic actuator , treadmill , actuator , artificial muscle , physical medicine and rehabilitation , computer science , control engineering , rehabilitation , artificial intelligence , physical therapy , medicine , agronomy , biology

Robot-assisted rehabilitation of gait still faces many challenges, one of which is improving physical human-robot interaction. The use of pleated pneumatic artificial muscles to power a step rehabilitation robot has the potential to meet this challenge. This paper reports on the development of a gait rehabilitation exoskeleton with a knee joint powered by pleated pneumatic artificial muscles. It is intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The design was focused on the optimal dimensioning of the actuator configuration. Safety being the most important prerequisite, a proxy-based sliding mode controller (PSMC) was implemented as it combines accurate tracking during normal operation with a smooth, slow and safe recovery from large position errors. Treadmill walking experiments of a healthy subject wearing the powered exoskeleton show the potential of PSMC as a safe robot-in-charge control strategy for robot-assisted gait training.

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