Control and implementation of a powered lower limb orthosis to aid walking in paraplegic individuals

Quintero, Hugo; Farris, Ryan J.; Goldfarb, Michael

doi:10.1109/icorr.2011.5975481

Cited by 63 publications

(41 citation statements)

References 24 publications

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“…[26], HAL (Cyberdyne) [27], ALEX (University of Delaware) [28], X1 (NASA) [29], and Indego (Vanderbilt University) [30]. We use Rex as our testing platform which can ultimately be used on people with severe motor disabilities.…”

Section: Introductionmentioning

confidence: 99%

A brain-controlled exoskeleton with cascaded event-related desynchronization classifiers

Lee

Liu

Perroud

et al. 2017

Robotics and Autonomous Systems

116

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This paper describes a brain-machine interface for the online control of a powered lower-limb exoskeleton based on electroencephalogram (EEG) signals recorded over the user's sensorimotor cortical areas. We train a binary decoder that can distinguish two different mental states, which is applied in a cascaded manner to efficiently control the exoskeleton in three different directions: walk front, turn left and turn right. This is realized by first classifying the user's intention to walk front or change the direction. If the user decides to change the direction, a subsequent classification is performed to decide turn left or right. The user's mental command is conditionally executed considering the possibility of obstacle collision. All five subjects were able to successfully complete the 3-way navigation task using brain signals while mounted in the exoskeleton. We observed on average 10.2% decrease in overall task completion time compared to the baseline protocol.

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Section: Introductionmentioning

confidence: 99%

A brain-controlled exoskeleton with cascaded event-related desynchronization classifiers

Lee

Liu

Perroud

et al. 2017

Robotics and Autonomous Systems

116

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“…When knee flexes or extends, tibia rolls and slides on femur causing the instant center of rotation to be displaced up to 3 cm (Lee and Guo 2010). Conventionally, the knee joint is merely modeled as a revolute joint, as reported in Pons et al 2013;Schuck et al 2012;Querry et al 2008;Quintero et al 2011). This estimation significantly simplifies the mechanical and kinematic considerations during exoskeletal design but sacrifices the ergonomics and mechanical compliance with the wearer's anatomy.…”

Section: Understanding Biological Joint Kinematics: Compliant Joint Mmentioning

confidence: 99%

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Anaya

Thangavel

Huang

2018

Int J Intell Robot Appl

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Gait disorders in neurologically disabled people can be treated by various techniques available today which include passive orthoses, functional electrical stimulation (FES) and robot assisted gait training devices (RAGT). However, each system has its own drawback. For example, gait rehabilitation with orthosis is physically taxing for the patient with no significant functional improvement. FES uses muscle powers as physiological actuators to promote balance and improve gait but leads to fatigue, along with poor control of joint trajectories. RAGT devices including powered exoskeletons, gait rehabilitation systems employing programmable footplates and mobile training platforms, have shown significant advantages but the devices are not yet mature due to numerous drawbacks associated with physical and cognitive interaction, energy-management and portability issues. The combination of FES technology and RAGT devices, often named hybrid FES-robot technologies, has arisen as a promising approach to aid in gait restoration. This work reports a comprehensive review on the hybrid FES-robot technologies over the last decades, focusing on different mechanical structures, actuator designs, sensing technologies, and control approaches. The hybrid robotic structures are classified into two categories: (i) orthotic-based hybrid systems, where (a) FES is used to stimulate the muscles and produce joint torque while the robotic system acts as energy dissipating device, and (b) FES and robotic systems are both torque-generating devices; and (ii) non-orthotic based hybrid systems. The review compiles a variety of sources and illustrates the technology's most important challenges in the fields of hybrid rehabilitation robotics which may contribute towards further development of hybrid robot systems.

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“…Lower-limb exoskeleton systems have been designed for rehabilitation [1,2], load carrying [3,4], and performance augmentation [5,6]. Other systems include upper-body exoskeletons for movement assistance [7,8,9], rehabilitation [10,11] and haptic interaction [12,13], as well as a number of whole-body assistive devices [5,14].…”

Section: Introductionmentioning

confidence: 99%

Integral admittance shaping: A unified framework for active exoskeleton control

Nagarajan

Aguirre-Ollinger

Goswami

2016

Robotics and Autonomous Systems

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Control and implementation of a powered lower limb orthosis to aid walking in paraplegic individuals

Cited by 63 publications

References 24 publications

A brain-controlled exoskeleton with cascaded event-related desynchronization classifiers

A brain-controlled exoskeleton with cascaded event-related desynchronization classifiers

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Integral admittance shaping: A unified framework for active exoskeleton control

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