Design and Evaluation of a Wearable Lower Limb Robotic Exoskeleton for Power Assistance

Hsu, Shi-Heng; Changcheng, Chuan; Chen, Chun-Ta; Wu, Yichao; Lian, Wei-Yuan; Li, Tse-Min; Huang, Chen-En

doi:10.1109/smc42975.2020.9283437

Cited by 3 publications

(1 citation statement)

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“…Furthermore, the LESObased fast terminal sliding mode controller (FTSMC) without the detailed exoskeleton model was proposed to track the planned trajectories during the walking training. Extending our previous conference paper [19] in which only the preliminary results based on the LADRC were presented, in the current paper, except for the proposed LESO-based FTSMC for gait rehabilitation control, the associated stability proof was presented. More concrete experimental tests and evaluations were also conducted to investigate the effects of the robotic hip exoskeleton on gait rehabilitation, e.g., rehabilitation experiments on walking, gait rehabilitation while suffering instant spasm and tremor, rehabilitation experiments on ascending, walking experiments for different subjects, and evaluation of rehabilitation assistance.…”

Section: Introductionmentioning

confidence: 96%

Design and Implementation of a Robotic Hip Exoskeleton for Gait Rehabilitation

et al. 2021

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In this paper, a four degrees-of-freedom robotic hip exoskeleton was proposed for gait rehabilitation. The robotic hip exoskeleton was designed with active flexion/extension and passive abduction/adduction at each hip joint to comply with the movement of the thigh. Due to each user’s different lower limbs characteristics and unknown torques at hip joints, model-free linear extended state observer (LESO)-based controllers were proposed for rehabilitation gait control. The prototypes of the robotic hip exoskeleton and controller designs were validated and compared through walking and ascending rehabilitation experiments. Additionally, a motion captured system and EMG signals were used to investigate the walking assistance of the robotic hip exoskeleton.

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Section: Introductionmentioning

confidence: 96%