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The technology of lower limb rehabilitation robot is a hot research topic in recent years, while the exoskeleton robot is a typical representative. Accurate trajectory tracking ability is the base of the exoskeleton mechanical leg to coordinately drive trainers to do rehabilitation training on the treadmill. In this paper, aiming at the existing exoskeleton body, taking into account the uncertain...
Disable people requires the assistance of the motion, of their lower limbs to improve their movement ability. For patients with lower limb paralysis, spinal cord injury and other diseases, the use of the lower limb rehabilitation robot is to gain trajectory training, which is a good means of recovery. Among them, the passive control mode is to help patient's pre-adaptive training; which refers to...
As a result of impairments, a majority of stroke or spinal cord injury (SCI) patients have significant functional limitations during recovery, including the inability to walk. Evidences demonstrate that patients can regain the ability to walk through lower limb rehabilitation. Over the last two decades, there has been growing development of robotic devices to assist the rehabilitation of ambulation...
The restoration of walking capability is very important after central nervous system (CNS) injury. Rehabilitation training robot can replace therapists to help patients do walking training by accurately simulating the human lower limb movement, and achieve the purpose of rehabilitation ultimately. In order to further improve the rehabilitation robots' intelligent and rehabilitation training effect...
Recently, the human-machine exoskeleton system, which is a kind of wearable robot, has been widely developed for human body's restoration and enhancement of motor function. The exoskeleton for assisting disabilities, performance enhancement, etc., however, has some limitations and shortcomings in the coordination between human action and external mechanical structure due to the single sensing method...
Exoskeleton Robot is a robotic-assisted human-machine system, which can provide power to assist the movement of people. This paper aims to find a method of EMG pattern recognition used in Exoskeleton Robot. To the beginning, the EMG power spectrum ratio (PSR) is calculated as the EMG eigenvalue. Then the minimum error-based Bayes decision rule is used to determine the movement intention of human,...
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