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A lower limbs rehabilitative training robot was designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. The robot was fixed with four omni-directional wheels which can move within any radius in any direction. When the robot is running, some undetected uncertainty disturbances change its running trajectory,...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
This paper presents a rehabilitation robot used for the patient with paralysis of lower limb and the kinematics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinematics solution of the robot is given. The working space of the foot apex is calculated under the training range. The trajectory planning is studied. It provides important data reference...
Research in robot-assisted gait rehabilitation has seen significant improvements in human-robot interaction, thanks to high performance actuator technologies and dedicated control strategies. In this context we propose a combination of lightweight, intrinsically compliant, high power actuators (pleated pneumatic artificial muscles, PPAMs) with safe and adaptable guidance along a trajectory by means...
This paper presents an approach to enhance an assistive controller, which has been designed for robotic rehabilitation of the upper extremity after stroke, with an error augmentation training method. The assistive controller provides robotic assistance to the participant as and when needed, while position errors that are visually fed back to the participant are amplified to heighten the participant's...
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