Optimization-Based Motion Planning in Joint Space for Walking Assistance With Wearable Robot

Kagawa, Tsuneo; Ishikawa, Hisao; Kitasaka, Takayuki; Sung, Chang Kyung; Uno, Yoji

doi:10.1109/tro.2015.2409434

Cited by 45 publications

(19 citation statements)

References 38 publications

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“…Wearable power-assist locomotor (WPAL) has been developed at the Fujita Health University 33 for providing assistance to paraplegic patients. 34 WPAL provides actuation to the sagittal plane hip, knee, and ankle joints by utilizing DC motors. All other joints of the lower limbs are restricted.…”

Section: Robotic Orthoses Mechanical Designmentioning

confidence: 99%

“…80 A motion planning strategy is recently proposed for WPAL to generate various walking patterns. 34 Other via-points are specified throughout a step, and the statuses at the via-points are applied as parameters to modify the trajectories of joints. A linear inverted pendulum model is utilized to determine the lasting of the step and several boundary states.…”

Section: Robotic Orthoses Control Strategiesmentioning

confidence: 99%

“…Parameters’ optimization of via-points, joint angle trajectories are defined to satisfy the states for the joint range of motion, maximum angular velocity, foot clearance and to avoid falling back. 34…”

Section: Robotic Orthoses Control Strategiesmentioning

confidence: 99%

See 2 more Smart Citations

Robotic orthoses for gait rehabilitation: An overview of mechanical design and control strategies

Jamwal

Hussain

Ghayesh

2020

Proc Inst Mech Eng H

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The application of robotic devices in providing physiotherapies to post-stroke patients and people suffering from incomplete spinal cord injuries is rapidly expanding. It is crucial to provide valid rehabilitation for people who are experiencing abnormality in their gait performance; therefore, design and development of newer robotic devices for the purpose of facilitating patients’ recovery is being actively researched. In order to advance the traditional gait treatment among patients, exoskeletons and orthoses were introduced over the last two decades. This article presents a thorough review of existing robotic gait rehabilitation devices. The latest advancements in the mechanical design, types of control and actuation are also covered. The study comprehends discussions on robotic rehabilitation devices developed both for the training on treadmill and over-ground training. The assist-as-needed strategy for the gait training is particularly emphasized while reviewing various control strategies applied to these robotic devices. This study further reviews experimental investigations and clinical assessments of different control strategies and mechanism designs of robotic gait rehabilitation devices using experimental and clinical trials.

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Section: Robotic Orthoses Mechanical Designmentioning

confidence: 99%

Section: Robotic Orthoses Control Strategiesmentioning

confidence: 99%

See 1 more Smart Citation

Robotic orthoses for gait rehabilitation: An overview of mechanical design and control strategies

Jamwal

Hussain

Ghayesh

2020

Proc Inst Mech Eng H

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“…A smooth and continuous trajectory is synthesized via polynomial interpolation. Kagawa et al [49] have developed a smooth motion planning approach for assistive walking exoskeleton that is based on a minimum jerk trajectory algorithm. Here, a linear inverted pendulum model is used to prevent falling down during walking and a continuous trajectory is planned by the minimum jerk trajectory algorithm.…”

Section: Gait Trajectoriesmentioning

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%

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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Nonlinear control design for walking assistance training robotic systems

Liu

Wang

Shi

2023

Intl J Robust & Nonlinear

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In this paper, the control problem for a novel walking assistance training robot is considered where the main objective is utilizing the robot to control the tilt angle and the position of a user. First, the novel walking assistance training robot together with a user is modeled as a nonlinear dynamical system in state space form with control input where the control input includes two elements standing for pulling forces on two straps which attach to the chest and back, respectively, of the user. Then, based on the nonlinear dynamical system and some results proposed in this paper, a feedback control system is developed, and a nonlinear state feedback control algorithm is designed where the control input includes two parts, namely, a dynamical part and a constant part. By doing this, it is ensured that the feedback control system is stable, and achieves the main objective under some limits for the control input. A simulation example is given to illustrate the effectiveness and performance of the proposed nonlinear state feedback control algorithm.

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Optimization-Based Motion Planning in Joint Space for Walking Assistance With Wearable Robot

Cited by 45 publications

References 38 publications

Robotic orthoses for gait rehabilitation: An overview of mechanical design and control strategies

Robotic orthoses for gait rehabilitation: An overview of mechanical design and control strategies

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

Nonlinear control design for walking assistance training robotic systems

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