Generation of a gait pattern for a lower limb rehabilitation exoskeleton

Jarzyna, Olga; Grzelczyk, Dariusz; Stańczyk, Bartosz; Awrejcewicz, Jan

doi:10.1080/15397734.2020.1858868

Cited by 5 publications

(2 citation statements)

References 26 publications

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“…Due to the advances in electronic technology and computer applications, the function and control technologies of robots are constantly improved and many innovative power-assisted, bionic, and industrial robots have emerged. [1][2][3][4] As an essential execution component for motion generation and interaction with the outside world, moving joints significantly affect the functional ability and intelligence level of robots. 5,6 Therefore, it is significant to design and implement joints and corresponding driving devices according to functional requirements for robotics.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Yang

Zhang

Shi

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Robotic exoskeletons with different actuators have been extensively investigated for decades, but designing a robot joint with compact structure, sufficient output torque, and satisfactory kinematic performance still remains a challenge. The paper introduces the mechanical design and control scheme of a novel joint with a circular rotary electro-hydraulic actuator in order to provide walking assistance for the hip joint. First, measurement and analysis techniques are applied in the gait recognition to determine an accurate swing range of the target joint and provide essential information for the structure design of the hydraulic rotary drive joint. Secondly, the functional structure and working principle of the hydraulic rotary joint are described in detail and the corresponding mathematical model is established for the valve-controlled hydraulic servo system. In addition, an adaptive sliding mode control (ASMC) method is proposed for position-tracking and improving the anti-disturbance ability of the controlled system. The global asymptotic stability and finite-time convergence of the closed-loop system are proved by Lyapunov stability theory. Finally, the feasibility and position-tracking performance of the designed ASMC controller were experimentally verified. Compared to the PID controller and the conventional sliding mode control scheme, the proposed controller improved the position-tracking control accuracy by 20%.

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Section: Introductionmentioning

confidence: 99%

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Yang

Zhang

Shi

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…These devices are based on advanced, hybrid control algorithms that control the posture of the users and support them with the appropriate force [ 9 ], considering the interactions between the human and the robot [ 10 ]. Development work in the field of design, modelling and control of exoskeletons is still carried out and interesting examples are the results of the works [ 11 , 12 , 13 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

Control System Design of an Underactuated Dynamic Body Weight Support System Using Its Stability

Gembalczyk

Gierlak

Duda

2021

Sensors

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This paper discusses the stability of systems controlling patient body weight support systems which are used in gait re-education. These devices belong to the class of underactuated mechanical systems. This is due to the application of elastic shock-absorbing connections between the active part of the system and the passive part which impacts the patient. The model takes into account properties of the system, such as inertia, attenuation and susceptibility to the elements. Stability is an essential property of the system due to human–device interaction. In order to demonstrate stability, Lyapunov’s theory of stability, which is based on the model of system dynamics, was applied. The stability of the control system based on a model that requires knowledge of the structure and parameters of the equations of motion was demonstrated. Due to inaccuracies in the modeling of the rope (one of the basic elements of the device), an adaptive control system was introduced and its stability was also proved. The authors conducted simulation and experimental tests that illustrate the functionality of the analyzed control systems.

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Energy variations and periodic solutions in a switched inverted pendulum model of human running gaits

Kowalczyk

Płociniczak

Wróblewska

2023

Physica D: Nonlinear Phenomena

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Generation of a gait pattern for a lower limb rehabilitation exoskeleton

Cited by 5 publications

References 26 publications

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Mechanical design and position-tracking control of a novel robotic joint with a circular rotary electro-hydraulic actuator

Control System Design of an Underactuated Dynamic Body Weight Support System Using Its Stability

Energy variations and periodic solutions in a switched inverted pendulum model of human running gaits

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