Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

Dzahir, Mohd Azuwan Mat; Yamamoto, Shin Ichiroh

doi:10.1155/2013/535106

Cited by 8 publications

(11 citation statements)

References 34 publications

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“…The obtained model equations correlate the contraction of each of the antagonistic actuators with the positional data of hip and knee joints. The model derivation of the anterior-posterior contraction patterns could be referred from the previous journal publication [29]. Based on the derived mathematical model, the contraction of antagonistic mono-articular actuators for hip joint has a linear relationship with the hip joint angle.…”

Section: Model Derivation Of the Mono-and Bi-articular Muscle Actuatorsmentioning

confidence: 99%

“…However, compared to most of the published research articles, only few articles had introduced anterior-posterior bi-articular muscle actuators to simultaneously control the lower limb orthosis along with anterior-posterior mono-articular muscle actuators [29,30]. The design of the proposed lower limb orthosis model was based on the human musculoskeletal system.…”

Section: Introductionmentioning

confidence: 99%

“…However, their model implementation in controlling the antagonistic muscle actuators of lower-limb orthosis has not been completely discovered [12 -25]. In addition, research study which focuses on the implementation of mono-and bi-articular actuators using pneumatic muscles for the lower-limb rehabilitation orthosis has yet to be extensively investigated [1,29]; thus, simply actuating the actuators might not give a good result on the joint's stiffness and stability of the lower-limb leg orthosis and its joint trajectories. Therefore, based on the related research findings, the simultaneous cocontractively like movements between the anterior and posterior actuators could be considered within the control system strategy [26 -30].…”

Section: Introductionmentioning

confidence: 99%

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Pneumatic Muscles Actuated Lower-Limb Orthosis Model Verification with Actual Human Muscle Activation Patterns

Nor¹,

Azaman²,

Hussein³

et al. 2017

MATEC Web Conf.

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Abstract.A review study was conducted on existing lower-limb orthosis systems for rehabilitation which implemented pneumatic muscle type of actuators with the aim to clarify the current and on-going research in this field. The implementation of pneumatic artificial muscle will play an important role for the development of the advanced robotic system. In this research a derivation model for the antagonistic mono-and bi-articular muscles using pneumatic artificial muscles of a lower limb orthosis will be verified with actual human's muscle activities models. A healthy and young male 29 years old subject with height 174cm and weight 68kg was used as a test subject. Two mono-articular muscles Vastus Medialis (VM) and Vastus Lateralis (VL) were selected to verify the mono-articular muscle models and muscle synergy between anterior muscles. Two biarticular muscles Rectus Femoris (RF) and Bicep Femoris (BF) were selected to verify the bi-articular muscle models and muscle co-contraction between anterior-posterior muscles. The test was carried out on a treadmill with a speed of 4.0 km/h, which approximately around 1.25 m/s for completing one cycle of walking motion. The data was collected for about one minute on a treadmill and 20 complete cycles of walking motion were successfully recorded. For the evaluations, the mathematical model obtained from the derivation and the actual human muscle activation patterns obtained using the surface electromyography (sEMG) system were compared and analysed. The results shown that, high correlation values ranging from 0.83 up to 0.93 were obtained in between the derivation model and the actual human muscle's model for both mono-and biarticular muscles. As a conclusion, based on the verification with the sEMG muscle activities data and its correlation values, the proposed derivation models of the antagonistic mono-and bi-articular muscles were suitable to simulate and controls the pneumatic muscles actuated lower limb orthosis.

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Section: Model Derivation Of the Mono-and Bi-articular Muscle Actuatorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Pneumatic Muscles Actuated Lower-Limb Orthosis Model Verification with Actual Human Muscle Activation Patterns

Nor¹,

Azaman²,

Hussein³

et al. 2017

MATEC Web Conf.

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show abstract

“…The development of rehabilitation orthosis, which implemented McKibben muscle, is rather slow when compared to other types of actuated rehabilitation orthosis using ac-motor, dc-motor, pneumatic cylinder, linear actuator, series elastic actuator (SEA), and brushless servomotor. However, due to its clear advantages such as low weight, structural flexibility, compactness, and inherent compliance compared to other types of artificial muscles, the researcher's interest in this field has grown exponentially in past decade [1][2][3]. This growth also due to the challenges it provides in resolving nonlinearity behaviors and difficulties in controlling such systems.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method

Dzahir

Yamamoto

2019

Applied Sciences

Self Cite

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This paper explores empirical modeling of McKibben muscle in characterizing its hysteresis behavior and nonlinearities during quasi-static, quasi-rate, and historic dependencies. The unconventional materials-based actuating system called McKibben muscle has excellent properties of power-to-weight ratio, which could be used in rehabilitation orthosis application for condition monitoring, physical enhancement, and rehabilitation therapy. McKibben muscle is known to exhibit hysteresis behavior and it is rate-dependent (the level of hysteresis depends closely on rate of input excitation frequency). This behavior is undesirable and it must be considered in realizing high precision control application. In this paper, the nonlinearities of McKibben muscle is characterized using empirical modeling with multiple correction functions such as shape irregularity and slenderness. A particle swarm optimization (PSO) method is used to determine the best parametric values of the proposed empirical with modified dynamic friction model. The LabVIEW and MATLAB platforms are used for data analysis, modeling and simulation. The results confirm that this model able to significantly characterize the nonlinearities of McKibben muscle while considering all dependencies.

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“…Their model implementations in controlling the antagonistic mono-and bi-articular muscle actuators of lower-limb orthosis have not been completely discovered [11][12][13][14][15][16][17][18][19][20][21][22]. In addition, research study which focuses on the implementations of mono-and bi-articular actuators using pneumatic muscles for the lower-limb rehabilitation orthosis also have yet to be extensively investigated [23][24][25]; thus, simply actuate the muscle actuators might not give a good result on the joint's stiffness and stability of the lower-limb leg orthosis and its joint trajectories. Therefore, based on the related research findings, the simultaneous cocontractively like movements between the anterior and posterior actuators could be considered within the control scheme and strategy [26][27][28][29][30].…”

Section: Introductionmentioning

confidence: 99%

Antagonistic Mono- and Bi-Articular Lower-Limb Muscle Activities’ Model Characterization at Different Speeds

Nor¹,

Azaman²,

Hussein³

et al. 2017

MATEC Web Conf.

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Nowadays, medical rehabilitation system has become a requirement due to increment in national rehabilitation centres and medical hospitals. An assistive rehabilitation orthosis becomes essential and was used for rehabilitation therapy, condition monitoring, and physical strengthening. This study focused on the lower limb assistive rehabilitation orthosis development using pneumatic artificial muscle. To successfully control this orthosis system which consists of antagonistic mono-and biarticular muscle actuators, it is necessary to construct a reliable control algorithm. The suitable control scheme and strategy to manoeuvre this orthosis system similar to human musculoskeletal system have yet to be fully developed and established. Based on the review study, it is said that the co-contraction controls of anterior-posterior pneumatic muscles was able to improve the joint stiffness and stability of the orthosis as well as good manoeuvrability. Therefore, a characterization model of an antagonistic mono-and bi-articular muscles activities of human's lowerlimb during walking motion will be necessary. A healthy young male subject was used as test subject to obtain the sEMG muscle activities for antagonistic mono-and bi-articular muscles (i.e., Vastus Medialis-VM, Vastus Lateralis-VL, Rectus Femoris-RF, and Bicep Femoris-BF). The tests were carried out at different speeds of 2km/h, 3km/h, and 4km/h for one minute walking motion on a treadmill. Then, the patterns of the sEMG muscle activities were modelled and characterised using fifth order polynomial equation. Based on the results, it is shown that the anterior and posterior muscles were exhibited a muscle synergy in-between multiple anterior or posterior muscles and muscle co-contraction between anteriorposterior muscles in order to control the movements at the joints during walking motion. As conclusion, it is proven that the sEMG muscle activities of the antagonistic mono-and bi-articular muscles were follow a certain contraction-expansion patterns during walking motion even when it were tested at different gait cycle speeds.

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Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

Cited by 8 publications

References 34 publications

Pneumatic Muscles Actuated Lower-Limb Orthosis Model Verification with Actual Human Muscle Activation Patterns

Pneumatic Muscles Actuated Lower-Limb Orthosis Model Verification with Actual Human Muscle Activation Patterns

Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method

Antagonistic Mono- and Bi-Articular Lower-Limb Muscle Activities’ Model Characterization at Different Speeds

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