Adaptive impedance control of a robotic orthosis actuated by pneumatic artificial muscle

Quy Thinh Dao, Shin Ichiroh Yamamoto

Research output: Contribution to journalConference articlepeer-review

5 Citations (Scopus)


In recent years, rehabilitation robots which help the neurological impaired patient regain the function of the lower limb via training sessions have been developed with great attention. Since these types of robot interact closely with humans, safety is always the top priority considered in the design. Besides, the compliance of the robot must also be controlled to give the subject the best comforts. To fulfill the above mentioned requirements, a two degrees of freedom (2-DOF) robotic orthosis power by pneumatic artificial muscles (PAMs) based on the human musculoskeletal system is developed in this study. The system is able to track any desired trajectories by using a computed torque control strategy. The impedance controller is also integrated into the system to adapt the robot compliance according to the external force. The feasibility and effectiveness of the developed system are verified by experiments.

Original languageEnglish
Pages (from-to)631-636
Number of pages6
JournalIFMBE Proceedings
Issue number2
Publication statusPublished - 2018
EventWorld Congress on Medical Physics and Biomedical Engineering, WC 2018 - Prague, Czech Republic
Duration: 2018 Jun 32018 Jun 8


  • Antagonistic actuator
  • Bi-articular muscle
  • Computed torque control
  • Pneumatic artificial muscle
  • Robot orthosis

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering


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