2007
DOI: 10.1142/s0219843607001151
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"Soft" Exoskeletons for Upper and Lower Body Rehabilitation — Design, Control and Testing

Abstract: The basic concepts for exoskeletal systems have been suggested for some time with applications ranging from construction, manufacturing and mining to rescue and emergency services. In recent years, research has been driven by possible uses in medical/rehabilitation and military applications. Yet there are still significant barriers to the effective use and exploitation of this technology. Among the most pertinent of these factors is the power and actuation system and its impact of control, strength, speed and,… Show more

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Cited by 103 publications
(54 citation statements)
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“…PMA have intrinsic elasticity (compliance) which can be used in providing compliant actuation [41]. Several robotic orthoses powered by PMA have been developed for the gait training of neurologically impaired subjects [38,40,[42][43][44][45][46][47]. However, in most of the cases, only trajectory-tracking control has been applied to these PMA powered robotic gait training orthoses [38,48].…”
Section: Assist-as-needed Control Of An Intrinsically Compliant Robotmentioning
confidence: 99%
“…PMA have intrinsic elasticity (compliance) which can be used in providing compliant actuation [41]. Several robotic orthoses powered by PMA have been developed for the gait training of neurologically impaired subjects [38,40,[42][43][44][45][46][47]. However, in most of the cases, only trajectory-tracking control has been applied to these PMA powered robotic gait training orthoses [38,48].…”
Section: Assist-as-needed Control Of An Intrinsically Compliant Robotmentioning
confidence: 99%
“…Intuitively, the model error and disturbance are thought of the disturbance and represented by f ðtÞ which is nonlinear and difficult to model. f ðtÞ is with boundary as f L f ðtÞ f U (18) Equation (17) can be written as…”
Section: Controller Designmentioning
confidence: 99%
“…In recent years, pneumatic muscle actuators (PMAs, Figure 1) were integrated in many robotic systems [1][2][3][4] and are still particularly favored, especially in applications that have to be lightweight and powerful. …”
Section: Introductionmentioning
confidence: 99%