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Robust nonlinear control of an intrinsically compliant robotic gait training orthosis

Journal Article


Abstract


  • Robot-assisted gait therapy is an emerging rehabilitation

    practice. This paper presents new experimental results

    with an intrinsically compliant robotic gait training orthosis

    and a trajectory tracking controller. The intrinsically compliant

    robotic orthosis has six degrees of freedom. Sagittal plane hip

    and knee joints were powered by the actuation of pneumatic

    muscle actuators in opposing pair configuration. The orthosis has

    passive hip abduction/adduction joint and passive mechanisms

    to allow vertical and lateral translations of the trunk. A passive

    foot lifter having a spring mechanism was used to ensure

    sufficient dorsiflexion during swing phase. A trajectory tracking

    controller based on a chattering-free robust variable structure

    control law was implemented in joint space to guide the subject’s

    limbs on physiological gait trajectories. The performance of the

    robotic orthosis was evaluated during two gait training modes,

    namely, “trajectory tracking mode with maximum compliance”

    and “trajectory tracking mode with minimum compliance.” The

    experimental evaluations were carried out with ten neurologically

    intact subjects. The results show that the robotic orthosis is able to

    perform the gait training task during the two gait training modes.

    All the subjects tend to deviate from the reference joint angle

    trajectories with an increase in robotic compliance as the subjects

    have more freedom to voluntarily drive the robotic orthosis.

Authors


  •   Hussain, Shahid (external author)
  •   Xie, Sheng Q. (external author)
  •   Jamwal, Prashant K. (external author)

Publication Date


  • 2013

Citation


  • Hussain, S., Xie, S. Q. & Jamwal, P. K. (2013). Robust nonlinear control of an intrinsically compliant robotic gait training orthosis. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 43 (3), 655-665.

Scopus Eid


  • 2-s2.0-84887028930

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5599

Number Of Pages


  • 10

Start Page


  • 655

End Page


  • 665

Volume


  • 43

Issue


  • 3

Abstract


  • Robot-assisted gait therapy is an emerging rehabilitation

    practice. This paper presents new experimental results

    with an intrinsically compliant robotic gait training orthosis

    and a trajectory tracking controller. The intrinsically compliant

    robotic orthosis has six degrees of freedom. Sagittal plane hip

    and knee joints were powered by the actuation of pneumatic

    muscle actuators in opposing pair configuration. The orthosis has

    passive hip abduction/adduction joint and passive mechanisms

    to allow vertical and lateral translations of the trunk. A passive

    foot lifter having a spring mechanism was used to ensure

    sufficient dorsiflexion during swing phase. A trajectory tracking

    controller based on a chattering-free robust variable structure

    control law was implemented in joint space to guide the subject’s

    limbs on physiological gait trajectories. The performance of the

    robotic orthosis was evaluated during two gait training modes,

    namely, “trajectory tracking mode with maximum compliance”

    and “trajectory tracking mode with minimum compliance.” The

    experimental evaluations were carried out with ten neurologically

    intact subjects. The results show that the robotic orthosis is able to

    perform the gait training task during the two gait training modes.

    All the subjects tend to deviate from the reference joint angle

    trajectories with an increase in robotic compliance as the subjects

    have more freedom to voluntarily drive the robotic orthosis.

Authors


  •   Hussain, Shahid (external author)
  •   Xie, Sheng Q. (external author)
  •   Jamwal, Prashant K. (external author)

Publication Date


  • 2013

Citation


  • Hussain, S., Xie, S. Q. & Jamwal, P. K. (2013). Robust nonlinear control of an intrinsically compliant robotic gait training orthosis. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 43 (3), 655-665.

Scopus Eid


  • 2-s2.0-84887028930

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5599

Number Of Pages


  • 10

Start Page


  • 655

End Page


  • 665

Volume


  • 43

Issue


  • 3