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Adaptive impedance control of a robotic orthosis for gait rehabilitation

Journal Article


Abstract


  • Intervention of robotic devices in the field of physical gait therapy can help in providing repetitive, systematic, and economically viable training sessions. Interactive or assist-as-needed (AAN) gait training encourages patient voluntary participation in the robotic gait training process which may aid in rapid motor function recovery. In this paper, a lightweight robotic gait training orthosis with two actuated and four passive degrees of freedom (DOFs) is proposed. The actuated DOFs were powered by pneumatic muscle actuators. An AAN gait training paradigm based on adaptive impedance control was developed to provide interactive robotic gait training. The proposed adaptive impedance control scheme adapts the robotic assistance according to the disability level and voluntary participation of human subjects. The robotic orthosis was operated in two gait training modes, namely, inactive mode and active mode, to evaluate the performance of the proposed control scheme. The adaptive impedance control scheme was evaluated on ten neurologically intact subjects. The experimental results demonstrate that an increase in voluntary participation of human subjects resulted in a decrease of the robotic assistance and vice versa. Further clinical evaluations with neurologically impaired subjects are required to establish the therapeutic efficacy of the adaptive-impedance-control-based AAN gait training strategy.

UOW 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). Adaptive impedance control of a robotic orthosis for gait rehabilitation. IEEE Transactions on Cybernetics, 43 (3), 1025-1034.

Scopus Eid


  • 2-s2.0-84890427697

Number Of Pages


  • 9

Start Page


  • 1025

End Page


  • 1034

Volume


  • 43

Issue


  • 3

Abstract


  • Intervention of robotic devices in the field of physical gait therapy can help in providing repetitive, systematic, and economically viable training sessions. Interactive or assist-as-needed (AAN) gait training encourages patient voluntary participation in the robotic gait training process which may aid in rapid motor function recovery. In this paper, a lightweight robotic gait training orthosis with two actuated and four passive degrees of freedom (DOFs) is proposed. The actuated DOFs were powered by pneumatic muscle actuators. An AAN gait training paradigm based on adaptive impedance control was developed to provide interactive robotic gait training. The proposed adaptive impedance control scheme adapts the robotic assistance according to the disability level and voluntary participation of human subjects. The robotic orthosis was operated in two gait training modes, namely, inactive mode and active mode, to evaluate the performance of the proposed control scheme. The adaptive impedance control scheme was evaluated on ten neurologically intact subjects. The experimental results demonstrate that an increase in voluntary participation of human subjects resulted in a decrease of the robotic assistance and vice versa. Further clinical evaluations with neurologically impaired subjects are required to establish the therapeutic efficacy of the adaptive-impedance-control-based AAN gait training strategy.

UOW 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). Adaptive impedance control of a robotic orthosis for gait rehabilitation. IEEE Transactions on Cybernetics, 43 (3), 1025-1034.

Scopus Eid


  • 2-s2.0-84890427697

Number Of Pages


  • 9

Start Page


  • 1025

End Page


  • 1034

Volume


  • 43

Issue


  • 3