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 | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics |
| Pages | 1470-1475 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2012 |
| Externally published | Yes |
| 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 |
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 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Biomedical Engineering
- Mechanical Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - A bio-inspired robotic orthosis for gait rehabilitation
AU - Hussain, Shahid
AU - Xie, Sheng Q.
AU - Jamwal, Prashant K.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84867434726&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867434726&partnerID=8YFLogxK
U2 - 10.1109/BioRob.2012.6290715
DO - 10.1109/BioRob.2012.6290715
M3 - Conference contribution
SN - 9781457711992
SP - 1470
EP - 1475
BT - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ER -