Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

Quy Thinh Dao; Shinichirou Yamamoto

doi:10.1109/EMBC.2018.8512608

Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

Quy Thinh Dao, Shinichirou Yamamoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

Rehabilitation robots may help the patient improve their recovery by supporting them to perform repetitive, systematic training sessions. Safety and comfortable feeling of the patients who training with robots is an important issue in not only the steady state but also the transient process. In this research, the trajectory tracking control problems of a two-degrees of freedom (2-DOF) robotic orthosis is discussed. The robotic orthosis is powered by pneumatic artificial muscles (PAMs) in an antagonistic configuration. based on a mathematical model, a modified computed torque control scheme is employed to enhance the tracking performance. The effectiveness of the proposed control strategy is verified by the experiments with the participation of different subjects.

Original language	English
Title of host publication	40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1719-1722
Number of pages	4
Volume	2018-July
ISBN (Electronic)	9781538636466
DOIs	https://doi.org/10.1109/EMBC.2018.8512608
Publication status	Published - 2018 Oct 26
Event	40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 - Honolulu, United States Duration: 2018 Jul 18 → 2018 Jul 21

Other

Other	40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
Country/Territory	United States
City	Honolulu
Period	18/7/18 → 18/7/21

Keywords

bi-articular muscle.
computed torque control
Gait training device
pneumatic artificial muscle
robot orthosis

ASJC Scopus subject areas

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

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10.1109/EMBC.2018.8512608

Cite this

Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. / Dao, Quy Thinh; Yamamoto, Shinichirou.
40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. p. 1719-1722 8512608.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dao, QT & Yamamoto, S 2018, Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. in 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. vol. 2018-July, 8512608, Institute of Electrical and Electronics Engineers Inc., pp. 1719-1722, 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018, Honolulu, United States, 18/7/18. https://doi.org/10.1109/EMBC.2018.8512608

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abstract = "Rehabilitation robots may help the patient improve their recovery by supporting them to perform repetitive, systematic training sessions. Safety and comfortable feeling of the patients who training with robots is an important issue in not only the steady state but also the transient process. In this research, the trajectory tracking control problems of a two-degrees of freedom (2-DOF) robotic orthosis is discussed. The robotic orthosis is powered by pneumatic artificial muscles (PAMs) in an antagonistic configuration. based on a mathematical model, a modified computed torque control scheme is employed to enhance the tracking performance. The effectiveness of the proposed control strategy is verified by the experiments with the participation of different subjects.",

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Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

Abstract

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Keywords

ASJC Scopus subject areas

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