A bio-inspired robotic orthosis for gait rehabilitation

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

doi:10.1109/BioRob.2012.6290715

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 Book › Conference contribution › peer-review

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 language	English
Title of host publication	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1470-1475
Number of pages	6
ISBN (Electronic)	9781457712005
ISBN (Print)	9781457711992
DOIs	https://doi.org/10.1109/BioRob.2012.6290715
Publication status	Published - 24 Jun 2012
Externally published	Yes
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012

Publication series

Name	BioRob
Publisher	IEEE
ISSN (Print)	2155-1774
ISSN (Electronic)	2155-1782

Conference

Conference	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/Territory	Italy
City	Rome
Period	24/06/12 → 27/06/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Access to Document

10.1109/BioRob.2012.6290715

Cite this

@inproceedings{7c2a4f90323348219696c0807e9ee37f,

title = "A bio-inspired robotic orthosis for gait rehabilitation",

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.",

keywords = "robotics, gait rehabilitation, Stroke",

author = "Shahid Hussain and Xie, \{Sheng Q.\} and Jamwal, \{Prashant K.\}",

year = "2012",

month = jun,

day = "24",

doi = "10.1109/BioRob.2012.6290715",

language = "English",

isbn = "9781457711992",

series = "BioRob",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "1470--1475",

booktitle = "2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012",

address = "United States",

note = "2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 ; Conference date: 24-06-2012 Through 27-06-2012",

}

Hussain, S, Xie, SQ & Jamwal, PK 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., 6290715, BioRob, IEEE, Institute of Electrical and Electronics Engineers, pp. 1470-1475, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290715

A bio-inspired robotic orthosis for gait rehabilitation. / Hussain, Shahid; Xie, Sheng Q.; Jamwal, Prashant K.
2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. IEEE, Institute of Electrical and Electronics Engineers, 2012. p. 1470-1475 6290715 (BioRob).

Research output: A Conference proceeding or a Chapter in Book › Conference contribution › peer-review

TY - GEN

T1 - A bio-inspired robotic orthosis for gait rehabilitation

AU - Hussain, Shahid

AU - Xie, Sheng Q.

AU - Jamwal, Prashant K.

PY - 2012/6/24

Y1 - 2012/6/24

N2 - 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.

AB - 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.

KW - robotics

KW - gait rehabilitation

KW - Stroke

UR - https://www.scopus.com/pages/publications/84867434726

U2 - 10.1109/BioRob.2012.6290715

DO - 10.1109/BioRob.2012.6290715

M3 - Conference contribution

AN - SCOPUS:84867434726

SN - 9781457711992

T3 - BioRob

SP - 1470

EP - 1475

BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012

Y2 - 24 June 2012 through 27 June 2012

ER -

A bio-inspired robotic orthosis for gait rehabilitation

Abstract

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Conference

UN SDGs

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