A bio-inspired robotic orthosis for gait rehabilitation

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

doi:10.1109/BioRob.2012.6290715

A bio-inspired robotic orthosis for gait rehabilitation

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

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages	1470-1475
Number of pages	6
DOIs	https://doi.org/10.1109/BioRob.2012.6290715
Publication status	Published - Oct 18 2012
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: Jun 24 2012 → Jun 27 2012

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Other

Other	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country	Italy
City	Rome
Period	6/24/12 → 6/27/12

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

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Cite this

Hussain, S., Xie, S. Q., & Jamwal, P. K. (2012). A bio-inspired robotic orthosis for gait rehabilitation. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 1470-1475). [6290715] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290715

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

2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 1470-1475 6290715 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hussain, S, Xie, SQ & Jamwal, PK 2012, A bio-inspired robotic orthosis for gait rehabilitation. in 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012., 6290715, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 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 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. 2012. p. 1470-1475. 6290715. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). https://doi.org/10.1109/BioRob.2012.6290715

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