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Recently, robot assisted therapy devices are increasingly used for spinalcord injury (SCI) rehabilitation in assisting handicapped patients to regaintheir impaired movements. Assistive robotic systems may not be able to cure orfully compensate impairments, but it should be able to assist certain impairedfunctions and ease movements. In this study, a couple control model forlower-limb orthosis of a body weight support gait training system is proposed.The developed leg orthosis implements the use of pneumatic artificial muscle asan actuation system. The pneumatic muscle was arranged antagonistically to formtwo pair of mono-articular muscles (i.e., hip and knee joints), and a pair ofbi-articular actuators (i.e., rectus femoris and hamstring). The results of theproposed couple control model showed that, it was able to simultaneouslycontrol the antagonistic mono- and bi-articular actuators and sufficientlyperformed walking motion of the leg orthosis.

Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators