Adaptive Control for Passive Kinesiotherapy ELLTIO

Loópez, Ricardo; Aguilar, Hipolito; Salazar, Sergio; Lozano, Rogelio

doi:10.1016/s1672-6529(14)60069-x

Cited by 10 publications

(3 citation statements)

References 9 publications

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“…The impedance parameters are determined by fuzzy logic to provide an adaptive haptic interface. The ELLTIO [24] exoskeleton employs a PD control law with adaptive compensation to follow a desired rehabilitation routine's trajectory. The adaptive control law commonly used in continuous adaptive systems is often called the integral law or gradient type.…”

Section: The Position Controllermentioning

confidence: 99%

“…Index of articles Gait trajectory based [14], [15], [16], [17], [18]- [20], [21], [22], [23], [24], [25], [26], position assistance [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43]- [45], [46], [47], [48], [49], [50], [51], [52], [53], [54], [55], [56], [57], [58] Posture estimation based [59], [60], [61], [62], [63], [64], [65] position assistance I...…”

Section: Control Strategymentioning

confidence: 99%

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A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. None, however, have focused on the coordination of control between humans and these kinds of robots. In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art. One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects. These categories were further subdivided according to their perspective on human-exoskeleton robots coordinated control. The paper extensively reviews various control methods we uncovered and how they are coordinated between wearer and exoskeleton robot.

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Section: The Position Controllermentioning

confidence: 99%

Section: Control Strategymentioning

confidence: 99%

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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show abstract

“…Such prototypes include the LOPES which is driven by Bowden cable-based series elastic actuator (SEA), 13 the exoskeleton system from Auckland University which is driven by pneumatic artificial muscle (PAM), 14 and the ELLTIO which is driven by linear SEA. 15 Unlike Locomat, most of these new rehabilitation exoskeletons with novel driving method are still under laboratory research and have yet been available on market.…”

Section: Introductionmentioning

confidence: 99%

Development of a foot-wheel driving exoskeleton for moving assistance of paraplegic patients

Wang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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Paraplegic patients need assistant devices to manage daily lives due to moving disability of lower limbs, standing and moving always being their most pressing needs. A foot-wheel driving exoskeleton for moving assistance in a standing posture is introduced in this study, which uses a motor-belt-wheel driving mechanism at each foot to propel the whole system and a wireless handle to control the moving status. The overall design concept and detailed specifications of each module are presented in this paper. This study has completed the using experiments on two healthy subjects and a T10 paraplegic patient. The motion analysis was performed in a 3D gait analysis system to evaluate the fluctuation of the joint angle and corresponding response of major muscles in a process from start to a 4-s operation. The kinematics and EMG results showed that this exoskeleton could assist the upper body-abled user to complete the upright move without the help from others and the musculus triceps brachii and brachioradialis play an important role in maintaining the balance and counteract the motion fluctuation.

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Continuous sliding mode control of compliant robot arms: A singularly perturbed approach

Pan

Wang

et al. 2018

Mechatronics

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Adaptive Control for Passive Kinesiotherapy ELLTIO

Cited by 10 publications

References 9 publications

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Development of a foot-wheel driving exoskeleton for moving assistance of paraplegic patients

Continuous sliding mode control of compliant robot arms: A singularly perturbed approach

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