Assist-as-needed control of a robotic orthosis actuated by pneumatic artificial muscle for gait rehabilitation

Quy Thinh Dao, Shin ichiroh Yamamoto

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects' lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.

Original languageEnglish
Article number499
JournalApplied Sciences (Switzerland)
Issue number4
Publication statusPublished - 2018 Mar 26


  • Assist-as-needed
  • Bi-articular muscle
  • Computed torque control
  • Fractional calculus
  • Gait training device
  • Pneumatic artificial muscle
  • Robot orthosis

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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