A bio-inspired robotic orthosis for gait rehabilitation

Shahid Hussain, Sheng Q. Xie, Prashant K. Jamwal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This research presents the modeling and control of a robotic gait training orthosis. The robotic orthosis has six degrees of freedom. Hip and knee sagittal plane rotation are powered by the antagonistic actuation of pneumatic muscle actuators (PMA). The modeling of the PMA was performed using artificial neural network (AAN). A fuzzy logic control scheme was used as a trajectory tracking controller. The purpose of the fuzzy logic control scheme was to guide the human subject's limbs on reference physiological trajectories with minimum trajectory tracking errors. The fuzzy logic control scheme was evaluated on a healthy subject during robot assisted walking and satisfactory performance was obtained.

Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages1470-1475
Number of pages6
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: Jun 24 2012Jun 27 2012

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period6/24/126/27/12

Fingerprint

Patient rehabilitation
Robotics
Fuzzy logic
Trajectories
Pneumatics
Muscle
Actuators
Degrees of freedom (mechanics)
Robots
Neural networks
Controllers

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

Hussain, S., Xie, S. Q., & Jamwal, P. K. (2012). A bio-inspired robotic orthosis for gait rehabilitation. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 1470-1475). [6290715] https://doi.org/10.1109/BioRob.2012.6290715

A bio-inspired robotic orthosis for gait rehabilitation. / Hussain, Shahid; Xie, Sheng Q.; Jamwal, Prashant K.

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1470-1475 6290715.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hussain, S, Xie, SQ & Jamwal, PK 2012, A bio-inspired robotic orthosis for gait rehabilitation. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics., 6290715, pp. 1470-1475, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 6/24/12. https://doi.org/10.1109/BioRob.2012.6290715
Hussain S, Xie SQ, Jamwal PK. A bio-inspired robotic orthosis for gait rehabilitation. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1470-1475. 6290715 https://doi.org/10.1109/BioRob.2012.6290715
Hussain, Shahid ; Xie, Sheng Q. ; Jamwal, Prashant K. / A bio-inspired robotic orthosis for gait rehabilitation. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. pp. 1470-1475
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