A bio-inspired robotic orthosis for gait rehabilitation

Shahid Hussain, Sheng Q. Xie, Prashant K. Jamwal

Research output: A Conference proceeding or a Chapter in BookConference contribution

3 Citations (Scopus)

Abstract

This research presents the modeling and control of a robotic gait training orthosis. The robotic orthosis has six degrees of freedom. Hip and knee sagittal plane rotation are powered by the antagonistic actuation of pneumatic muscle actuators (PMA). The modeling of the PMA was performed using artificial neural network (AAN). A fuzzy logic control scheme was used as a trajectory tracking controller. The purpose of the fuzzy logic control scheme was to guide the human subject's limbs on reference physiological trajectories with minimum trajectory tracking errors. The fuzzy logic control scheme was evaluated on a healthy subject during robot assisted walking and satisfactory performance was obtained.

Original languageEnglish
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1470-1475
Number of pages6
ISBN (Electronic)9781457712005
ISBN (Print)9781457711992
DOIs
Publication statusPublished - 24 Jun 2012
Externally publishedYes
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: 24 Jun 201227 Jun 2012

Publication series

NameBioRob
PublisherIEEE
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period24/06/1227/06/12

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  • Cite this

    Hussain, S., Xie, S. Q., & Jamwal, P. K. (2012). A bio-inspired robotic orthosis for gait rehabilitation. In 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 (pp. 1470-1475). [6290715] (BioRob). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/BioRob.2012.6290715